Increased complexity in cyber-physical systems calls for modular system design methodologies that guarantee correct and reliable behavior, both in normal operations and in the presence of failures. This paper aims to extend the contract-based design approach using a directive-response architecture to enable reactivity to failure scenarios. The architecture is demonstrated on a modular automated valet parking (AVP) system. The contracts for the different components in the AVP system are explicitly defined, implemented, and validated against a Python implementation.
@article{arxiv.2103.12919,
title = {Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture},
author = {Josefine Graebener and Tung Phan-Minh and Jiaqi Yan and Qiming Zhao and Richard M. Murray},
journal= {arXiv preprint arXiv:2103.12919},
year = {2021}
}