CEL-based integration policy for critical multi-layered applications

Tomorrow, advanced mobile robotic applications have to be able to cope with various situations and perform tasks in a dynamic environment. Furthermore, finding concrete applications in a wide range of user oriented industrial products, such systems, embedding several computing units, have to support both increasing demand of interactivity and number of non-critical pieces of hardware and software. To this aim not only advanced programming techniques, but also appropriate control architectures are required. This paper proposes a generic methodology, actually in use for our own products, that offers both the possibility to model such internally competing systems and the capability to coordinate them. A special parallel is drawn between our approach and the SynDEx software methodology, developed by INRIA, on which our current implementation relies.