Schedulability and safety analysis in the graphical communicating shared resources

Graphical Communicating Shared Resources is a formal language for the specification and analysis of real-time systems, including their functional, temporal and resource requirements. GCSR supports the explicit representation of system resources and priorities to arbitrate resource contentions. These features allow a designer to examine resource inherent constraints and to experiment with various resource allocations and scheduling disciplines in order to produce a more dependable specification. In addition, GCSR has a precise operational semantics and notions of equivalence that allow the execution and formal analysis of a specification. In this paper, we show how to model a scheduling discipline and verify schedulability and safety properties within GCSR. We illustrate our method through a mobile robotic application