Departmental Papers (CIS)

Document Type

Journal Article

Date of this Version



Suggested Citation:
Alur, Rajeey. et al. (2003) Hierarchical Modeling and Analysis of Embedded Systems. Proceedings of the IEEE. Vol. 91(1). p. 11-28.

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This paper describes the modeling language CHARON for modular design of interacting hybrid systems. The language allows specification of architectural as well as behavioral hierarchy and discrete as well as continuous activities. The modular structure of the language is not merely syntactic, but is exploited by analysis tools and is supported by a formal semantics with an accompanying compositional theory of refinement. We illustrate the benefits of CHARON in the design of embedded control software using examples from automated highways concerning vehicle coordination.


embedded control systems, formal analysis tools, hybrid systems, modular design



Date Posted: 15 November 2004

This document has been peer reviewed.