ORCCAD: software engineering for real-time robotics. A technical insight
D. Simon, Bernard Espiau, K. Kapellos, Roger Pissard-Gibollet · Robotica · 1997
The ORCCAD programming environment for robotic systems gathers control laws in continuous time at the low levels and discrete time logical aspects at higher levels. Based upon a formal definition of robotic actions, complex applications can be designed, verified and generated incrementally. The approach and tools prototypes have been validated through several applications.