A real-time formalism called communicating shared resources (CSR) is presented. CSR consists of a programming language that allows the explicit expression of timing constraints and resources, and a computation model that resolves resource contention based on event priority. A full denotational semantics is provided for the programming language, grounded in a resource-based computation model. To illustrate CSR, a distributed robot system consisting of a robot arm and a sensor is presented. >
['Richard Gerber', 'Insup Lee']
Communicating shared resources: a model for distributed real-time systems