Simulation is favored by roboticists to evaluate controller design and software. Often, state machines are drawn to convey overall ideas and used as a basis to program tool-specific simulations. The simulation code, written in general or proprietary programming languages, is, however, the only full account of the robotic system. Here, we present the RoboStar technology, a modern approach to design that supports automatic generation of simulation code guaranteed to be correct with respect to a design model, and complements simulation with model checking, theorem proving, and automatic test generation for simulation. Diagrammatic domain-specific, but tool-independent, notations for design and simulation use state machines, differential equations, and controlled English to specify behavior. We illustrate the RoboStar approach using an autonomous vehicle as an example.
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