Graphical Communicating Shared Resources is a formal language for the specification and analysis of real-time systems, including their functional, temporal and resource requirements. GCSR supports the explicit representation of system resources and priorities to arbitrate resource contentions. These features allow a designer to examine resource inherent constraints and to experiment with various resource allocations and scheduling disciplines in order to produce a more dependable specification. In addition, GCSR has a precise operational semantics and notions of equivalence that allow the execution and formal analysis of a specification. In this paper, we show how to model a scheduling discipline and verify schedulability and safety properties within GCSR. We illustrate our method through a mobile robotic application. 1 Introduction The Communicating Shared Resources (CSR) paradigm is an ongoing project at the University of Pennsylvania to build a formal framework for the development..