Abstract
Formal software specification languages are becoming sufficiently powerful to consider their use in application domains as realistic. This paper reports on a project aiming at the application of formal specification notations and techniques in the development of real-time control applications. It puts emphasis on the development of reliable control systems by means of the integration of a formal specification notation in the controller development process. This paper discusses the application of ASTRAL (Ghezzi and Kemmerer, 1991a) for the requirements specification of a robot control system. It shows that formal specification provides a useful extension to current modelling capabilities in the application domain
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