HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Orccad, a framework for safe robot control design and implementation

Abstract : Robotic systems are typical examples of hybrid systems where continuous time aspects, related to control laws, must be carefully merged with discrete-time aspects related to control switches and exception handling. These two aspects interact in real-time to ensure an efficient nominal behaviour of the system together with safe and graceful degradation otherwise. In a mixed synchronous/asynchronous approach, ranging from user's requirements to run-time code, Orccad provides formalised real-time control structures, the coordination of which is specified using the \esterel\ synchronous language. CAD tools have been developed and integrated to help the users along the steps of the design, verification, implementation and exploitation processes.
Document type :
Conference papers
Complete list of metadata

Cited literature [32 references]  Display  Hide  Download

Contributor : Daniel Simon Connect in order to contact the contributor
Submitted on : Monday, May 18, 2009 - 6:27:13 PM
Last modification on : Friday, February 4, 2022 - 3:19:20 AM
Long-term archiving on: : Thursday, June 10, 2010 - 11:23:53 PM


Files produced by the author(s)


  • HAL Id : inria-00385258, version 1



Daniel Simon, Roger Pissard-Gibollet, Soraya Arias. Orccad, a framework for safe robot control design and implementation. 1st National Workshop on Control Architectures of Robots : software approaches and issues CAR'06, Apr 2006, Montpellier, France. ⟨inria-00385258⟩



Record views


Files downloads