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Journal Articles The International Journal of Robotics Research Year : 1998

The ORCCAD Architecture


The ORCCAD programming environment for robotic systems allows users to address automatic control laws in continuous time at the lower levels, and aspects of discrete-time logic at the higher lev els. ORCCAD provides tools of specification, formal verification, simulation, and real-time code generation integrated within a set of dedicated graphical interfaces. Basic robot actions, which are in trinsically hybrid entities, are handled by the ROBOT-TASK struc ture, which smartly interfaces aspects of continuous and discrete time. ROBOT-TASKS are further logically composed into more complex actions, ROBOT-PROCEDURES, through a dedicated lan guage. While system performance can be checked using simula tions, crucial properties such as deadlock avoidance, safety, and liveness can be formally verified at both levels. The approach is illustrated with an underwater inspection mission.
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hal-00930119 , version 1 (14-01-2014)


  • HAL Id : hal-00930119 , version 1


Jean-Jacques Borrelly, Eve Coste-Manière, Bernard Espiau, Konstantinos Kapellos, Roger Pissard-Gibollet, et al.. The ORCCAD Architecture. The International Journal of Robotics Research, 1998, 17 (4), pp.338-359. ⟨hal-00930119⟩
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