An approach to modeling and developing teleo-reactive systems considering timing constraints

•A study of the type of timing constraints that may appear when applying the TR paradigm.•A novel approach to modeling real-time requirements for systems implemented by the TR approach.•A TRiStar extension (TRiStar+) for considering timing constraints in TR systems.•A practical demonstration of the approach including temporal constraints and its specification using the TRiStar+ notation. TeleoR is an extension and implementation of teleo-reactive (TR) language for defining the behavior of reactive systems when the consideration of timing constraints is a matter of interest. This paper analyzes how to consider real-time constraints when a TR approach is followed from modeling to implementation. After carrying out a study of the type of timing constraints from the TR perspective, the possibility of using TeleoR for incorporating such constraints was considered. Some extensions on TRiStar notation were then made to represent temporal requirements. A drone-based case study was carried out to demonstrate the usefulness of this approach. Finally, a survey was conducted to validate the approach. TeleoR can, to a great extent, support the kind of real-time constraints required for developing real-time systems, offering a direct solution to five of the eight temporal requirements identified, which can be implemented using the basic features of the language. Considering real-time requirements should be part of the specification of reactive systems implemented when using the TR approach and should be supported by the implementation platform. In this regard, TeleoR offers reasonable possibilities that should be extended by taking into account the limitations identified here.