Applying AADL to realize embedded control systems for coordination of multiple low-cost underwater drones

The goal of this study is to realize a component architecture of embedded control systems for coordination of UUV based on a Model Driven Engineering approach. We firstly have studied in end-to-end flow latency and faults for an embedded system of UUV in scenario-case coordinated control of multiple UUVs. A basic declarative model and its instance are then implemented to illustrate a scheduling analysis of the system instance. The abstraction of the complex embedded system is represented in consideration of AADL system, process, and device components. Following on this representation, the run-time composition of all elements, allocate software to hardware resources, and assign values to properties of the elements are detailed for analyzing and creating an instance of coordination system. Specially, it is taken into account for inspecting and developing a controller of low-cost underwater drone such as BlueROV, an open-source platform for a research prototype and educational purposes.