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Example49_Swarm_UAV.mp

+/*
+ 	Kristin Giammarco and Mikhail Auguston
+  MP Model based on "Swarm CONOPs" Draft 11 February 2015 
+	11 February 2015 - Initial Model Started by KGiammarco
+    25 May 2015 - M.Auguston Merged several COORDINATE, SHARE ALL to speed up 
+    	trace generation
+    22 July 2015 - added a few more coordinate statements to capture dependencies 
+
+	This model demonstrates how to get several instances of the same actor (UAV) 
+    coordinated with external events (run for scopes 2 and 3 to see 2 and 3 UAVs, 
+    respectively).
+*/
+
+SCHEMA Swarm_UAV
+
+ROOT Flight_Crew: 	Conduct_PreMission_Briefing
+					(+ PreFlight_UAV +) 					
+					Confirm_Staging_Plans 					
+					(+ 	Confirm_Launch_Permission 			
+            			Launch_UAV 								
+						Assess_Flight_Behavior
+						Confirm_Nominal_Flight_Behavior 		
+						Stage_UAV_for_Ingress +) 			
+
+					Alert_All_UAVs_Staged
+			
+					(* [ Receive_Recovery_Prioritization_List ] 
+                        /* above optional event will always occur because it is 
+                        COORDINATEd with a mandatory event */  
+                		
+                        Observe_New_UAV_in_Recovery_List 		
+               		 	Recover_UAV 							
+						Retrieve_UAV
+						Alert_RC_UAV_Landing *) 			
+					
+					Confirm_UAVs_Recovered_Retrieved
+					Conduct_PostMission_Hotwash;
+
+ROOT Swarm: {+ UAV +};
+
+   UAV:	Undergo_PreFlight
+		Launch
+		Report_Flight_Status
+		Confirm_Staged_for_Ingress
+		Store_Ingress_SubSwarm_ID  
+		Perform_Mission
+		Store_Egress_SubSwarm_ID
+		Confirm_Staged_for_Egress
+		Land;
+
+COORDINATE 	$a: PreFlight_UAV		FROM Flight_Crew, 
+			$b: Undergo_PreFlight	FROM Swarm
+		DO ADD $a PRECEDES $b; OD;  			
+
+COORDINATE 	$a: Launch_UAV	FROM Flight_Crew, 
+			$b: Launch 		FROM Swarm
+		DO ADD $a PRECEDES $b; OD;					
+
+COORDINATE 	$a: Report_Flight_Status 	FROM Swarm, 
+			$b: Assess_Flight_Behavior	FROM Flight_Crew
+		DO ADD $a PRECEDES $b; OD;					
+
+COORDINATE 	$a: Stage_UAV_for_Ingress				FROM Flight_Crew, 
+			$b: Confirm_Staged_for_Ingress			FROM Swarm
+		DO ADD $a PRECEDES $b; OD;			
+
+COORDINATE 	$a: Confirm_Staged_for_Egress 			FROM Swarm,  
+			$b: Observe_New_UAV_in_Recovery_List	FROM Flight_Crew
+		DO ADD $a PRECEDES $b; OD;
+
+COORDINATE 	$a: Recover_UAV	FROM Flight_Crew, 
+			$b: Land 		FROM Swarm
+		DO ADD $b PRECEDES $a; OD;				
+
+ROOT Mission_Commander:	Conduct_PreMission_Briefing
+                        Confirm_Staging_Plans
+						Confirm_Swarm_Mission_Plan
+						(* Confirm_Launch_Permission *)
+						Conduct_PostMission_Hotwash; 
+
+Flight_Crew, Mission_Commander SHARE ALL Confirm_Staging_Plans, Confirm_Launch_Permission;		
+			
+
+COORDINATE 	$a: Confirm_UAVs_Recovered_Retrieved	FROM Flight_Crew, 
+			$b: Conduct_PostMission_Hotwash			FROM Mission_Commander
+		DO ADD $a PRECEDES $b; OD;				
+
+
+ROOT Swarm_Operator:	Conduct_PreMission_Briefing
+			Confirm_Swarm_Mission_Plan 				
+			Receive_Swarm_Mission_Plan_Approval		
+			(+ Assign_Ingress_SubSwarmID +) 		
+			Confirm_All_UAVs_Staged
+			Command_Swarm_to_Commence_Mission						
+			(* Assign_Egress_SubSwarmID *) 			
+			Provide_Recovery_Prioritization_List 	
+			Conduct_PostMission_Hotwash;
+			   
+Mission_Commander, Swarm_Operator SHARE ALL Confirm_Swarm_Mission_Plan;				
+
+COORDINATE  	$a: Confirm_Staged_for_Ingress		FROM Swarm, 
+				$b: Assign_Ingress_SubSwarmID		FROM Swarm_Operator,
+				$c: Store_Ingress_SubSwarm_ID		FROM Swarm
+
+		DO  ADD $a PRECEDES $b; 
+		    ADD $b PRECEDES $c;
+		OD;	
+	
+COORDINATE 	$a: Store_Ingress_SubSwarm_ID			FROM Swarm 
+	DO	 COORDINATE $b: Alert_All_UAVs_Staged	FROM Flight_Crew
+ 			DO ADD $a PRECEDES $b; OD;
+ 	OD;
+
+COORDINATE 	$a: Alert_All_UAVs_Staged		FROM Flight_Crew,
+			$b: Confirm_All_UAVs_Staged		FROM Swarm_Operator
+		DO ADD $a PRECEDES $b; OD;				
+
+COORDINATE 	$a: Command_Swarm_to_Commence_Mission	FROM Swarm_Operator 
+	DO	 COORDINATE  $b: Perform_Mission		FROM Swarm 
+ 			DO ADD $a PRECEDES $b; OD;
+ 	OD;	
+
+COORDINATE 	$a: Assign_Egress_SubSwarmID		FROM Swarm_Operator, 
+			$b: Store_Egress_SubSwarm_ID		FROM Swarm
+		DO ADD $a PRECEDES $b; OD;			
+
+COORDINATE 	$a: Provide_Recovery_Prioritization_List	FROM Swarm_Operator, 
+			$b: Receive_Recovery_Prioritization_List	FROM Flight_Crew
+		DO ADD $a PRECEDES $b; OD;				
+
+ROOT Range_Control: 	(* Receive_UAV_Landing_Notification *);
+
+COORDINATE 	$a: Alert_RC_UAV_Landing		FROM Flight_Crew, 
+			$b: Receive_UAV_Landing_Notification	FROM Range_Control
+		DO ADD $a PRECEDES $b; OD;				
+
+ROOT Safety_Coordinator: Conduct_PreMission_Briefing
+			 Conduct_PostMission_Hotwash;
+
+Flight_Crew, Mission_Commander, Swarm_Operator, Safety_Coordinator SHARE ALL 
+		Conduct_PreMission_Briefing, Conduct_PostMission_Hotwash;