@. Coffee-available, Ca " ) requires Preparing(C) ( " CP " ) which requires no-coffee-available, Preparing(C) is performed while At(Caffet) ( " @(Caffet) " ) after Preparing(M )( " MP " )

. Send, Receive BIP model obtained from BIP to BIPtransformations, p.38

. Example and .. Dala-plan, 138 8.13 Modelling the robot basic actions using, p.139

. Example and .. Dala-plan-with-opportunistic-science, 142 8.16 Representation of an Interruptible action, p.142

J. F. Allen, Maintaining knowledge about temporal intervals, Communications of the ACM, vol.26, issue.11, pp.832-843, 1983.
DOI : 10.1145/182.358434

J. F. Allen, Towards a general theory of action and time, Artificial Intelligence, vol.23, issue.2, pp.123-154, 1984.
DOI : 10.1016/0004-3702(84)90008-0

K. Altisen and S. Tripakis, Implementation of Timed Automata: An Issue of Semantics or Modeling?, pp.273-288
DOI : 10.1007/11603009_21

R. Alur, C. Courcoubetis, N. Halbwachs, T. A. Henzinger, P. Ho et al., The algorithmic analysis of hybrid systems, Theoretical Computer Science, vol.138, issue.1, pp.3-34, 1995.
DOI : 10.1016/0304-3975(94)00202-T

R. Alur and D. L. Dill, The theory of timed automata, Lecture Notes in Computer Science, vol.600, pp.45-73, 1991.
DOI : 10.1007/BFb0031987

R. Alur and D. L. Dill, A theory of timed automata, Theoretical Computer Science, vol.126, issue.2, pp.183-235, 1994.
DOI : 10.1016/0304-3975(94)90010-8

C. Aussaguès and V. David, A method and a technique to model and ensure timeliness in safety critical real-time systems, Proceedings. Fourth IEEE International Conference on Engineering of Complex Computer Systems (Cat. No.98EX193), pp.2-12, 1998.
DOI : 10.1109/ICECCS.1998.706651

K. Sanjoy, V. Baruah, . Bonifaci, D. Gianlorenzo, A. Angelo et al., Mixed-criticality scheduling of sporadic task systems, Lecture Notes in Computer Science, vol.6942, pp.555-566, 2011.

K. Sanjoy, H. Baruah, L. Li, and . Stougie, Towards the design of certifiable mixed-criticality systems, Embedded Technology and Applications Symposium, pp.13-22, 2010.

A. Basu, Component-based Modeling of Heterogeneous Real-time Systems in BIP, 2008.
URL : https://hal.archives-ouvertes.fr/tel-00527491

A. Basu, P. Bidinger, M. Bozga, and J. Sifakis, Distributed Semantics and Implementation for Systems with Interaction and Priority, pp.116-133
DOI : 10.1007/978-3-540-30101-1_15

URL : https://hal.archives-ouvertes.fr/hal-00359261

A. Basu, P. Bidinger, M. Bozga, and J. Sifakis, Distributed Semantics and Implementation for Systems with Interaction and Priority, pp.116-133
DOI : 10.1007/978-3-540-30101-1_15

URL : https://hal.archives-ouvertes.fr/hal-00359261

A. Basu, M. Bozga, and J. Sifakis, Modeling Heterogeneous Real-time Components in BIP, Fourth IEEE International Conference on Software Engineering and Formal Methods (SEFM'06), pp.3-12, 2006.
DOI : 10.1109/SEFM.2006.27

URL : https://hal.archives-ouvertes.fr/hal-00375298

F. Belina and D. Hogrefe, The CCITT-specification and description language SDL, Computer Networks and ISDN Systems, vol.16, issue.4, pp.311-341, 1989.
DOI : 10.1016/0169-7552(89)90078-0

S. Bensalem, M. Bozga, T. Nguyen, and J. Sifakis, D-Finder: A Tool for Compositional Deadlock Detection and Verification, Bouajjani and Maler [32], pp.614-619
DOI : 10.1007/978-3-642-02658-4_45

URL : https://hal.archives-ouvertes.fr/hal-00722550

S. Bensalem, F. Lavindra-de-silva, R. Ingrand, and . Yan, Towards a more dependable software architecture for autonomous robots, IEEE Robotics and Automation Magazine, vol.16, issue.1, 2009.

S. Bensalem, F. Lavindra-de-silva, R. Ingrand, and . Yan, A verifiable and correct-by-construction controller for robot functional levels, Journal of Software Engineering for Robotics, vol.16, issue.1, pp.123-126, 2009.

S. Bensalem, M. Gallien, F. Ingrand, I. Kahloul, and T. Nguyen, Designing autonomous robots, IEEE Robotics & Automation Magazine, vol.16, issue.1, pp.66-77, 2009.
DOI : 10.1109/MRA.2008.931631

S. Bensalem, A. Griesmayer, A. Legay, T. Nguyen, J. Sifakis et al., D-Finder 2: Towards Efficient Correctness of Incremental Design, NASA Formal Methods, pp.453-458, 2011.
DOI : 10.1109/MS.1985.230351

S. Bensalem, F. Ingrand, and J. Sifakis, Autonomous robot software design challenge, IARP/IEEE-RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, 2008.

A. Benveniste, P. L. Guernic, and C. Jacquemot, Synchronous programming with events and relations: the SIGNAL language and its semantics, Science of Computer Programming, vol.16, issue.2, pp.103-149, 1991.
DOI : 10.1016/0167-6423(91)90001-E

G. Berry and G. Gonthier, The Esterel synchronous programming language: design, semantics, implementation, Science of Computer Programming, vol.19, issue.2, pp.87-152, 1992.
DOI : 10.1016/0167-6423(92)90005-V

URL : https://hal.archives-ouvertes.fr/inria-00075711

G. S. Blair, T. Coupaye, and J. Stefani, Component-based architecture: the Fractal initiative, annals of telecommunications - annales des t??l??communications, vol.54, issue.1-2, pp.1-4, 2009.
DOI : 10.1007/s12243-009-0086-1

S. Bliudze and J. Sifakis, The Algebra of Connectors—Structuring Interaction in BIP, IEEE Transactions on Computers, vol.57, issue.10, pp.1315-1330, 2008.
DOI : 10.1109/TC.2008.26

S. Bliudze and J. Sifakis, A Notion of Glue Expressiveness for Component-Based Systems, Lecture Notes in Computer Science, vol.5201, pp.508-522, 2008.
DOI : 10.1007/978-3-540-85361-9_39

B. Bonakdarpour, M. Bozga, M. Jaber, J. Quilbeuf, and J. Sifakis, From high-level component-based models to distributed implementations, Proceedings of the tenth ACM international conference on Embedded software, EMSOFT '10, pp.209-218, 2010.
DOI : 10.1145/1879021.1879049

URL : https://hal.archives-ouvertes.fr/hal-00557792

M. Bonani, V. Longchamp, S. Magnenat, P. Rétornaz, D. Burnier et al., The marXbot, a miniature mobile robot opening new perspectives for the collective-robotic research, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4187-4193, 2010.
DOI : 10.1109/IROS.2010.5649153

R. H. Bordini, M. Fisher, C. Pardavila, W. Visser, and M. Wooldridge, Model Checking Multi-Agent Programs with CASP, CAV, pp.110-113, 2003.
DOI : 10.1007/978-3-540-45069-6_10

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.14.6262

S. Bornot, G. Gößler, and J. Sifakis, On the Construction of Live Timed Systems, TACAS, pp.109-126, 2000.
DOI : 10.1007/3-540-46419-0_9

S. Bornot and J. Sifakis, An Algebraic Framework for Urgency, Information and Computation, vol.163, issue.1, pp.172-202, 2000.
DOI : 10.1006/inco.2000.2999

URL : http://doi.org/10.1006/inco.2000.2999

M. Bozga, M. Jaber, and J. Sifakis, Source-to-source architecture transformation for performance optimization in bip, SIES [1], pp.152-160
URL : https://hal.archives-ouvertes.fr/hal-00722520

M. Bozga, M. Jaber, and J. Sifakis, Source-to-source architecture transformation for performance optimization in BIP, SIES [1], pp.152-160
URL : https://hal.archives-ouvertes.fr/hal-00722520

M. Broy, B. Jonsson, J. P. Katoen, M. Leucker, and A. Pretschner, Model-based Testing of Reactive Systems, Lecture Notes in Computer Science, vol.3472, 2005.
DOI : 10.1007/b137241

E. Bruneton, T. Coupaye, M. Leclercq, V. Quéma, and J. Stefani, The FRACTAL component model and its support in Java, Software: Practice and Experience, vol.6, issue.11-12, pp.11-121257, 2006.
DOI : 10.1002/spe.767

H. Bruyninckx, Open robot control software: the OROCOS project, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.933002

A. Burns and A. J. Wellings, Real-time systems and their programming languages, 2001.

R. Ana, A. Cavalli, and . Sarma, SDL '97 Time for Testing, SDL, MSC and Trends -8th International SDL Forum, Proceedings, pp.23-29, 1997.

D. Chabrol, V. David, C. Aussaguès, S. Louise, and F. Daumas, Deterministic distributed safety-critical real-time systems within the oasis approach, IASTED PDCS, pp.260-268, 2005.

J. Combaz, J. Fernandez, J. Sifakis, and L. Strus, Symbolic quality control for multimedia applications. Real-Time Systems, pp.1-43, 2008.

A. David, K. G. Larsen, A. Legay, U. Nyman, and A. Wasowski, Timed I/O automata, Proceedings of the 13th ACM international conference on Hybrid systems: computation and control, HSCC '10, pp.91-100, 2010.
DOI : 10.1145/1755952.1755967

URL : http://vbn.aau.dk/ws/files/58768871/HSCC2010cameraready.pdf

V. David, J. Delcoigne, E. Leret, A. Ourghanlian, P. Hilsenkopf et al., Safety Properties Ensured by the OASIS Model for Safety Critical Real-Time Systems, Lecture Notes in Computer Science, vol.1516, pp.45-59, 1998.
DOI : 10.1007/3-540-49646-7_4

C. Dima, Dynamical Properties of Timed Automata Revisited, Lecture Notes in Computer Science, vol.4763, pp.130-146, 2007.
DOI : 10.1007/978-3-540-75454-1_11

J. Eker, J. W. Janneck, E. A. Lee, J. Liu, X. Liu et al., Taming heterogeneity - the Ptolemy approach, Proceedings of the IEEE, pp.127-144, 2003.
DOI : 10.1109/JPROC.2002.805829

B. Espiau, K. Kapellos, and M. Jourdan, Formal Verification in Robotics: Why and How?, The International Foundation for Robotics Research The Seventh International Symposium of Robotics Research, pp.201-213, 1995.
DOI : 10.1007/978-1-4471-1021-7_26

H. Peter, B. A. Feiler, S. Lewis, and . Vestal, The SAE architecture analysis & design language (AADL) a standard for engineering performance critical systems, IEEE International Symposium on Computer-Aided Control Systems Design, pp.1206-1211, 2006.

D. Gay, P. Levis, J. Robert-von-behren, M. Welsh, E. A. Brewer et al., The nesc language: A holistic approach to networked embedded systems, In PLDI, pp.1-11, 2003.

T. Genssler, A. Christoph, M. Winter, O. Nierstrasz, S. Ducasse et al., Components for embedded software, Proceedings of the international conference on Compilers, architecture, and synthesis for embedded systems , CASES '02, pp.19-26, 2002.
DOI : 10.1145/581630.581634

A. Ghosal, T. A. Henzinger, C. M. Kirsch, and M. A. Sanvido, Event-Driven Programming with Logical Execution Times
DOI : 10.1007/978-3-540-24743-2_24

R. P. Goldman, D. J. Musliner, and M. J. Pelican, Using model checking to plan hard real-time controllers, Proceedings of the AIPS Workshop on Model- Theoretic Approaches to Planning, 2000.

G. Gössler and J. Sifakis, Composition for component-based modeling, Science of Computer Programming, vol.55, issue.1-3, pp.161-183, 2005.
DOI : 10.1016/j.scico.2004.05.014

N. Halbwachs, P. Caspi, P. Raymond, and D. Pilaud, The synchronous data flow programming language LUSTRE, Proceedings of the IEEE, pp.1305-1320, 1991.
DOI : 10.1109/5.97300

N. Halbwachs, Synchronous Programming of Reactive Systems, 1992.

N. Halbwachs, About synchronous programming and abstract interpretation, Science of Computer Programming, vol.31, issue.1, pp.75-89, 1998.
DOI : 10.1016/S0167-6423(96)00041-X

URL : http://dx.doi.org/10.1016/s0167-6423(96)00041-x

N. Halbwachs, Synchronous programming of reactive systems, Lecture Notes in Computer Science, vol.1427, pp.1-16, 1998.
DOI : 10.1007/BFb0028726

T. A. Henzinger, B. Horowitz, and C. M. Kirsch, Giotto: a timetriggered language for embedded programming, Proceedings of the IEEE, pp.84-99, 2003.

F. Ingrand, S. Lacroix, S. Lemai, and F. Py, Decisional autonomy of planetary rovers, Journal of Field Robotics, vol.2, issue.7, pp.559-580, 2007.
DOI : 10.1002/rob.20206

D. Isovic, G. Fohler, and L. Steffens, Timing constraints of MPEG-2 decoding for high quality video: misconceptions and realistic assumptions, 15th Euromicro Conference on Real-Time Systems, 2003. Proceedings.
DOI : 10.1109/EMRTS.2003.1212730

M. Jaber, Centralized and Distributed Implementations of Correct-byconstruction Component-based Systems by using Source-to-source Transformations in BIP, 2010.

M. Jaber, Implémentations Centralisés et Réparties de Systèmes Corrects par construction à base des Composants par Transformations Source-à-source dans BIB, 2010.

J. Jackson, Microsoft robotics studio: A technical introduction, IEEE Robotics & Automation Magazine, vol.14, issue.4, pp.82-87, 2007.
DOI : 10.1109/M-RA.2007.905745

I. Jacobson, G. Booch, and J. Rumbaugh, The unified software development process, 1999.

J. Kramer and M. Scheutz, Development environments for autonomous mobile robots: A survey, Autonomous Robots, vol.22, issue.2, 2007.
DOI : 10.1007/s10514-006-9013-8

H. Kress-gazit and G. J. Pappas, Automatic synthesis of robot controllers for tasks with locative prepositions, 2010 IEEE International Conference on Robotics and Automation, pp.3215-3220, 2010.
DOI : 10.1109/ROBOT.2010.5509402

X. Liu, Y. Xiong, and E. A. Lee, The ptolemy ii framework for visual languages, HCC, p.50, 2001.

S. Louise, V. David, J. Delcoigne, and C. Aussaguès, OASIS project, Proceedings of the 10th workshop on ACM SIGOPS European workshop: beyond the PC , EW10, pp.223-226, 2002.
DOI : 10.1145/1133373.1133419

S. Louise, M. Lemerre, C. Aussaguès, and V. David, The OASIS Kernel: A Framework for High Dependability Real-Time Systems, 2011 IEEE 13th International Symposium on High-Assurance Systems Engineering, pp.95-103, 2011.
DOI : 10.1109/HASE.2011.38

N. A. Lynch and M. R. Tuttle, An introduction to input/output automata, CWI Quarterly, vol.2, pp.219-246, 1989.

S. Magnenat, B. Noris, and F. Mondada, Aseba-Challenge: An Open-Source Multiplayer Introduction to Mobile Robots Programming, Fun and Games, pp.65-74, 2008.
DOI : 10.1145/563340.563345

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.174.1798

M. Montemerlo, S. Roy, and . Thrun, Perspectives on standardization in mobile robot programming: The carnegie mellon navigation (carmen) toolkit, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.2436-2441, 2003.

A. Issa, A. Nesnas, M. Wright, R. Bajracharya, T. Simmons et al., Claraty and challenges of developing interoperable robotic software, IROS, 2003.

O. Nierstrasz, G. Arévalo, S. Ducasse, R. Wuyts, A. P. Black et al., A Component Model for Field Devices, Lecture Notes in Computer Science, vol.2370, pp.200-209, 2002.
DOI : 10.1007/3-540-45440-3_14

J. Polakovic, A. E. Özcan, and J. Stefani, Building Reconfigurable Component-Based OS with THINK, 32nd EUROMICRO Conference on Software Engineering and Advanced Applications (EUROMICRO'06), pp.178-185, 2006.
DOI : 10.1109/EUROMICRO.2006.26

M. Quigley, . Gerkey, J. Conley, . Faust, . Foote et al., Ros: an open-source robot operating system, International Conference on Robotics and Automation, 2009.

J. Reineke, B. Wachter, S. Thesing, R. Wilhelm, I. Polian et al., A definition and classification of timing anomalies, WCET, volume 06902 of Dagstuhl Seminar Proceedings. Internationales Begegnungs-und Forschungszentrum fuer Informatik (IBFI), Schloss Dagstuhl, 2006.

G. Rosu and S. Bensalem, Allen Linear (Interval) Temporal Logic ??? Translation to LTL and Monitor Synthesis, Lecture Notes in Computer Science, vol.4144, pp.263-277, 2006.
DOI : 10.1007/11817963_25

V. Sfyrla, Modélisation des Systemes Synchrones sur BIP, 2011.

A. Shakhimardanov and E. Prassler, Comparative evaluation of robotic software integration systems: A case study, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
DOI : 10.1109/IROS.2007.4399375

J. Sifakis, Component-Based Construction of Real-Time Systems in BIP, Bouajjani and Maler, pp.33-34
DOI : 10.1007/978-3-642-02658-4_4

J. Sifakis, Embedded systems design -scientific challenges and work directions, DATE, page 2, 2009.
DOI : 10.1109/date.2009.5090623

J. Sifakis, Embedded systems design -scientific challenges and work directions, p.11, 2010.
DOI : 10.1109/date.2009.5090623

R. Simmons, C. Pecheur, and G. Srinivasan, Towards automatic verification of autonomous systems, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2000.
DOI : 10.1109/IROS.2000.893218

K. Suzuki and T. Higashino, Formal Techniques for Networked and Distributed Systems -FORTE, 28th IFIP WG 6.1 International Conference Proceedings, 2008.

R. Vaughan and B. Gerkey, Reusable robot software and the player/stage project. Software Engineering for Experimental Robotics, pp.267-289, 2007.

R. Wilhelm, S. Altmeyer, C. Burguière, D. Grund, J. Herter-reineke et al., Static Timing Analysis for Hard Real-Time Systems, Lecture Notes in Computer Science, vol.5944, pp.3-22, 2010.
DOI : 10.1007/978-3-642-11319-2_3

B. C. Williams, M. D. Ingham, S. Chung, P. Elliott, M. Hofbaur et al., Model-Based Programming of Fault-Aware Systems, Artificial Intelligence, pp.61-75, 2003.

T. Wongpiromsarn, U. Topcu, and R. M. Murray, Receding horizon control for temporal logic specifications, Proceedings of the 13th ACM international conference on Hybrid systems: computation and control, HSCC '10, pp.101-110, 2010.
DOI : 10.1145/1755952.1755968

L. Martin-de-wulf, J. Doyen, and . Raskin, Almost ASAP semantics: from timed models to timed implementations, Formal Aspects of Computing, vol.17, issue.3, pp.319-341, 2005.
DOI : 10.1007/s00165-005-0067-8