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Validation of real-time properties of a robotic software architecture

Abstract : In this paper, we propose a mechanism allowing to evaluate the schedulability of a robotic software architecture, and then validate its real-time properties. The robotic software architecture is described through a Domain Specific Language (DSL), MAUVE, that allows to model communicating components. The evaluation of schedulability of the architecture consists in first computing the Worst-Case Execution Time (WCET) of the elementary functions of the components. Then the Worst Case Response Time (WCRT) of the component is computed from the elementary WCET and the component models, allowing to validate the schedulatiblity of the architecture. We illustrate our methodology on the evaluation of a control architecture for a ground mobile robot.
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Contributor : Charles Lesire-Cabaniols Connect in order to contact the contributor
Submitted on : Friday, June 10, 2011 - 3:56:13 PM
Last modification on : Monday, July 4, 2022 - 8:51:08 AM
Long-term archiving on: : Monday, December 5, 2016 - 12:09:44 AM


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  • HAL Id : inria-00599689, version 1


Charles Lesire, David Doose, Hugues Cassé. Validation of real-time properties of a robotic software architecture. 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 7 p. ⟨inria-00599689⟩



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