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Example52_Swarm_Search_and_Track.mp

+/*
+Michael Revill
+22 February 2016
+Incorporating Failure Modes and Failsafe Behaviors
+MP model Swarm_Search_and_Track elaborates on 
+"Perform_Mission" event in Swarm2-v8.mp
+
+Edited by K.Giamamrco on 26 Feb 2016
+Established naming convention:
+Noun-oriented events are actors  (root events)
+Verb-oriented events in sentence case are activities 
+Verb-oriented events in title case are states
+
+This model demonstrates the found unexpected behavior for 
+object discovery after bingo fuel (trace 6)
+
+*/
+
+SCHEMA Swarm_Search_and_Track
+
+ROOT 	Swarm_Operator:	Command_swarm_to_commence_mission
+   						Monitor_mission
+   						Issue_recovery_command;
+
+	Monitor_mission:	(*	Receive_target_alert
+    						Assess_detected_object 
+    						( Object_is_Valid_Target | 
+                                Object_is_Not_Target )
+						*);
+
+ROOT 	Swarm: {+ UAV +};
+     
+	UAV: 	Commence_mission
+          	Search_and_track_objects
+          	Return_to_base
+		  	End_mission;
+
+	Search_and_track_objects:	
+			
+			(*	( 	Detect_object 
+    				Evaluate_object 
+      				( Target_Found 
+                      Alert_operator 
+                      Track_target 		| 
+                                            
+                          Non_Target_Found 
+                          Resume_target_search ) 	|
+    							
+        					Bingo_Fuel 
+        					Reassess_environment 
+      						[ ( Target_Found 
+                                Alert_operator 
+                                Track_target 		| 
+                                
+                                Non_Target_Found 	
+                               ) ]
+  													
+                )
+			*); 
+
+COORDINATE 	$a: Command_swarm_to_commence_mission	FROM Swarm_Operator 
+	DO	COORDINATE $b: Commence_mission				FROM Swarm 
+ 				DO ADD $a PRECEDES $b; OD;
+	OD;	
+
+COORDINATE 	$a: Alert_operator			FROM Swarm,
+			$b: Receive_target_alert	FROM Swarm_Operator 
+ 	DO ADD $a PRECEDES $b; OD;
+
+COORDINATE 	$a: Issue_recovery_command		FROM Swarm_Operator 
+	DO	 COORDINATE $b: Return_to_base		FROM Swarm 
+ 			DO ADD $a PRECEDES $b; OD;
+ 	OD;		
+
+ROOT Environment: (* Present_object_signature *);
+
+COORDINATE 	$a: Present_object_signature 	FROM Environment, 
+			$b: Detect_object				FROM Swarm
+	DO ADD $a PRECEDES $b; OD;