Abstract
In this paper, we present a methodology for the design of embedded controllers for multi-vehicle multi-modal systems. Our methodology is predicated upon the principles of platform-based design, which uses layers of abstraction to isolate applications from low-level system details and yet provides enough information about the important parameters of the lower layers of abstraction, to modularize the system design and to provide predictable system performance. An essential layer of abstraction in our methodology is the software platform provided by the programming language Giotto, which allows a clean implementation of a time-based controller application. Our methodology includes a hardware-in-the-loop simulation framework, in which system components can be replaced by actual implementation for high-fidelity simulation. To demonstrate the effectiveness of our design methodology, a helicopter-based unmanned aerial vehicle system is presented. We present simulation results which validate the quality of our embedded control system implementation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
G. Berry and G. Gonthier. The Esterel synchronous programming language: Design, semantics, implementation. Information and Computation, 163:172–202, 1992.
V. Bertin, E. Closse, M. Poize, J. Pulou, J. Sifakis, P. Venier, D. Weil, and S. Yovine. Taxys = Esterel + Kronos: A tool for verifying real-time properties of embedded systems. In Proceedings of the 40th IEEE Conference on Decision and Control, pages 2875–2880, December 2001.
N. Halbwachs, P. Caspi, P. Raymond, and D. Pilaud. The synchronous data flow programming language Lustre. Proceedings of the IEEE, 79(9):1305–1320, September 1991.
T.A. Henzinger, B. Horowitz, and C.M. Kirsch. Embedded control systems development with Giotto. In Proc. of the Intl. Workshop on Languages, Compilers, and Tools for Embedded Systems (LCTES’ 01), pages 64–72, August 2001.
T.A. Henzinger, B. Horowitz, and C.M. Kirsch. Giotto: a time-triggered language for embedded programming. In Proc. of the 1st Intl. Workshop on Embedded Software (EMSOFT’ 01), LNCS 2211, pages 166–184. Springer-Verlag, October 2001.
B. Horowitz, J. Liebman, C. Ma, T. J. Koo, A. Sangiovanni-Vincentelli, and S. Sastry. Platform-based embedded software design and system integration for autonomous vehicles. submitted to IEEE Proceedings, 2002.
C.M. Kirsch, M.A.A. Sanvido, T.A. Henzinger, and W. Pree. A Giotto-based helicopter control system (draft), 2002.
T. J. Koo, J. Liebman, C. Ma, and S. Sastry. Hierarchical approach for design of multi-vehicle multi-modal embedded software. In Proc. of the 1st Intl. Workshop on Embedded Software (EMSOFT’ 01), LNCS 2211, pages 344–360. Springer-Verlag, October 2001.
H. Kopetz. Real-time systems: design principles for distributed embedded applications. Kluwer, 1997.
H. Kopetz and G. Grunsteidl. TTP-a protocol for fault-tolerant real-time systems. Computer, 27(1):14–23, January 1994.
J.A. Ledin. Hardware-in-the-loop simulation. Embedded Systems Programming, 12(2):42–60, February 1999.
A. Sangiovanni-Vincentelli. Defining platform-based design. EEDesign of EE-Times, February 2002.
B. Sprunt, S. Liu, and J. Lehoczky. Aperiodic task scheduling for hard-real-time systems. Real-Time Systems, 1(1):27–60, June 1989.
J. K. Strosnider, J. P. Lehoczky, and S. Lui. The deferrable server algorithm for enhanced aperiodic responsiveness in hard real-time environments. IEEE Transactions on Computers, 44(1):73–91, January 1995.
L. Wills, S. Kannan, M. Guler, B. Heck, J.V.R. Prasad, D. Schrage, and G. Vachtsevanos. An open platform for reconfigurable control. IEEE Control Systems Magazine, 21(3):49–64, June 2001.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Koo, T.J., Liebman, J., Ma, C., Horowitz, B., Sangiovanni-Vincentelli, A., Sastry, S. (2002). Platform-Based Embedded Software Design for Multi-vehicle Multi-modal Systems. In: Sangiovanni-Vincentelli, A., Sifakis, J. (eds) Embedded Software. EMSOFT 2002. Lecture Notes in Computer Science, vol 2491. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45828-X_4
Download citation
DOI: https://doi.org/10.1007/3-540-45828-X_4
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-44307-0
Online ISBN: 978-3-540-45828-9
eBook Packages: Springer Book Archive