Towards Executing Dynamically Updating Finite-State Controllers On A Robot System

Modern software systems are increasingly required to run for a long time and deliver uninterrupted service. Their requirements or their environments, however, may change. Therefore, these systems must be updated dynamically, at run-time. Typical examples can be found in manufacturing, transportation, or space applications, where stopping the system to deploy updates can be difficult, costly, or simply not possible. In previous work we proposed a model-driven approach that uses automatically synthesized finite-state controllers from scenario-based assume/guarantee specifications to safely and efficiently dynamically update the system. In this paper we describe an execution infrastructure of this approach, which allows us to execute and deploy newly synthesized dynamically updating controllers on embedded devices. We present a prototype implementation in Java for Lego Mindstorms robots. This experience gained can lead to a systematic approach to implement dynamic updates in the aforementioned critical software-intensive systems.