Comodeling Revisited: Execution of Behavior Trees in Modelica

Toby Myers
Institute of Intelligent and Integrated Systems, Griffith University, Australia

Wladimir Schamai
EADS Innovation Works, Germany

Peter Fritzon
PELAB - Programming Environment Lab, IDA, Linköping University, Sweden

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Ingår i: Proceedings of the 4th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; Zurich; Switzerland; September 5; 2011

Linköping Electronic Conference Proceedings 56:11, s. 97-106

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Publicerad: 2011-11-03

ISBN: 978-91-7519-825-5

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


Large-scale systems increasingly consist of a mixture of co-dependent software and hardware. The differing nature of software and hardware means that they are often modeled separately and with different approaches. Comodeling is a design strategy that allows hardware/software integration issues to be identified; investigated and resolved in the early stages of development. Previous work described a comodeling approach that integrates Behavior Engineering with Modelica. This paper revisits this approach and introduces a new means of integration that natively executes Behavior Trees in Modelica rather than utilizing external functions. This enhanced integration has several benefits. Firstly; it makes comodeling easier to apply as the comodel is captured solely in Modelica. Secondly; it makes the ability to execute Behavior Trees widely available. Finally; it opens the possibility to use comodeling with other complementary approaches such as the virtual verification of system designs against system requirements.


Comodeling; Behavior Engineering; Behavior Trees; Modelica; Model Driven Engineering


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