Model-Based Engineering and Analysis of Space-Aware Systems Communicating via IEEE 802.11

We propose a model-driven development approach for autonomous control systems with emphasis on the physical space and the communication via wireless connections. In particular, we combine model-based engineering with simulation and emulation techniques for mobile communication. The design and implementation is done using our Reactive Blocks Framework. For the mobile communication we use the popular IEEE 802.11 WLAN protocol which is simulated using software tools in order to get estimations of connection delays. The spatial constraints are verified with our Be Spaced tool. As an example, we present the design and verification of autonomous robots performing services in a large factory hall and coordinating by means of wireless communication which is based on several access points.