R-Charon, a Modeling Language for Reconfigurable Hybrid Systems
Oleg Sokolsky, George Pappas, Fabian Kratz, Insup Lee · ScholarlyCommons (University of Pennsylvania) · 2006
This paper describes the modeling language as an extension for architectural reconfiguration to the existing distributed hybrid system modeling language Charon. The target application domain of R-Charon includes but is not limited to modular reconfigurable robots and large-scale transportation systems. While largely leaving the Charon syntax and semantics intact, R-Charon allows dynamic creation and destruction of components (agents) as well as of links (references) between the agents. As such, R-Charon is the first formal, hybrid automata based modeling language which also addresses dynamic reconfiguration. We develop and present the syntax and operational semantics for R-Charon on three levels: behavior (modes), structure (agents) and configuration (system).