A Modelica Library for Real-Time Coordination Modeling

Abstract

Increasingly, innovative functionality in embedded sys- tems is realized by connecting previously autonomous embedded systems. This requires real-time communi- cation and coordination between these connected sys- tems. Modelica and the StateGraph2 library provide a good environment for modeling embedded systems including controllers and physics. However, it lacks appropriate support for modeling the communication and coordination part. In this paper, we present an extension to the State- Graph2 library that enables modeling asynchronous and synchronous communication and rich real-time constraints. We illustrate our extension of the State- Graph2 library by modeling and simulating two minia- ture robots driving in a platoon.