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R-Charon, a Modeling Language for Reconfigurable Hybrid Systems
Departmental Papers (CIS)
  • Fabian Kratz, Eindhoven University of Technology (TU/e), Eindhoven, The Netherlands
  • Oleg Sokolsky, University of Pennsylvania
  • George Pappas, University of Pennsylvania
  • Insup Lee, University of Pennsylvania
Date of this Version
Document Type
Conference Paper
Postprint version. Published in Lecture Notes in Computer Science, Volume 3927, Hybrid Systems: Computation and Control, 2006, pages 392-406.
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This paper describes the modeling language as an extension for architectural reconfiguration to the existing distributed hybrid system modeling language Charon. The target application domain of R-Charon includes but is not limited to modular reconfigurable robots and large-scale transportation systems. While largely leaving the Charon syntax and semantics intact, R-Charon allows dynamic creation and destruction of components (agents) as well as of links (references) between the agents. As such, R-Charon is the first formal, hybrid automata based modeling language which also addresses dynamic reconfiguration. We develop and present the syntax and operational semantics for R-Charon on three levels: behavior (modes), structure (agents) and configuration (system).

Citation Information
Fabian Kratz, Oleg Sokolsky, George Pappas and Insup Lee. "R-Charon, a Modeling Language for Reconfigurable Hybrid Systems" (2006)
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