ed automaton corresponding to starting and stopping signals of the servoing tasks (not =BF rpr!); BF = =BF rpr!; which renames as tau (invisible action) all the sequences of actions (regular operator (*)) which do not indicate the good termination, and as BF the remaining ones. The second is specified as an automaton with one state and one transition labeled BF. ffl Conflicts detection We are interesting here to check that during the RP evolution it does not exist a time at which two different RTs are competing for the use of a particular resource of the system. For verifying that, in the case of the mobile robot anis, we observe the global automaton with respect to the signals StartServoing and ServoingStop. Figure 5 shows the resulting automaton. We can easily verify that the two signals appears alternatively. 5.1.4 Coherence with the Application Requirements The conformity of the RP behavior to the mission constraints can also be verified. These constraints have to be expressed ...