Alvis approach to Hexor robot controller development

Alvis is a novel modelling language defined especially for the embedded systems design and verification. The language has its origin in CCS and XCCS process algebras, but algebraic equations have been replaced with a Haskell based high level programming language. Moreover, Alvis provides communication diagrams for the visual modelling of an embedded system structure, especially from the control and data-flow point of view. This paper presents an introduction to Alvis based on a model of a controller for the Hexor II mobile robot.