Robots are becoming ubiquitous: from vacuum cleaners to driverless cars, there is a wide
variety of applications, many with potential safety hazards. The work presented in this paper …

Simulation is favored by roboticists to evaluate controller design and software. Often, state
machines are drawn to convey overall ideas and used as a basis to program tool-specific …

We propose a formal semantics for UML-RT, a UML profile for real-time and embedded
systems. The formal semantics is given by mapping UML-RT models into a language called …

SysML is a variant of UML for systems design. Several formalisations of SysML (and UML)
are available. Our work is distinctive in two ways: a semantics for refinement and for a …

The design and implementation of an embedded system is often a complex and complicated
process. Usually it takes significant amount of time. This process is even more complex in …

The current practice of programming mobile and autonomous robots does not reflect the
modern outlook of their applications. Such practice is often based on standard state …

Designing robotic systems can be very challenging, yet controllers are often specified using
informal notations with development driven primarily by simulations and physical …

By following a methodological approach, introduced in a previous work, a correct system
specification in terms of CSP+ T process algebra is systematically obtained from the UML …

Autonomous and mobile robots are becoming ubiquitous. From domestic robotic vacuum
cleaners to driverless cars, such robots interact with their environment and humans, leading …

This work provides an underpinning for a systems modelling approach based on UML and
fUML together. It uses UML state diagrams as a starting point for modelling system object …