Model-Based Testing for Embedded Systems

Model-Based Testing of Hybrid Systems 413

Mode 1 Mode 2

Mode 3

˙x

i

= vcos (θ

i

)+dx

i

˙x

i

= vcos (θ

i

)+dx

i

˙x

i

= vcos (θ

i

)+dx

i

˙z

i

=0

˙z

i

=0

˙

z

i

=1

˙

y

i

= vsin(θ

i

)+dy

i

˙y

i

= vsin(θ

i

)+dy

i

˙y

i

= vsin (θ

i

)+dy

i

θ := θ + π/2

z ≥π

˙

θ

i

=0

˙

θ

i

= ω

˙

θ

i

=0

D

ij

> R

θ

:= θ + π/2

D

ij

≤ R

z < π

FIGURE 14.20

System dynamics for the three modes.

80

70

60

50

40

30

20

10

0

–20 20 40 60 80 1000

FIGURE 14.21

Eight-aircraft collision avoidance (50,000 visited states, computation time: 10 min.)

Results. For N aircraft, the system has 3N + 1 continuous variables (one for modeling a

clock). For the case of N = 2 aircraft, when the collision distance is 5 (that is a collision

occurs if the distance between the aircraft is ...