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+/*┬────────────────────────────────────────────────────────â”
+│*│ ┌─[ Title and Authors ]──────────────────────────────┠│
+│*│ │ Small Package Delivery, Creative Expansion │ │
+│*│ │ Created by Kristin Giammarco and David Shifflett │ │
+│*│ │ last edited on the 30th of August, 2018 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│ │
+│*│ ┌─[ Purpose ]────────────────────────────────────────┠│
+│*│ │ To expand the Small Package Delivery Baseline Case │ │
+│*│ │ to include plausible alternative event flows. │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│ │
+│*│ ┌─[ Description ]────────────────────────────────────┠│
+│*│ │ Taken from use case description in the Skyzer IM20 │ │
+│*│ │ Mission Model: │ │
+│*│ │ "Family traveling from PR to Florida in a 1984 │ │
+│*│ │ Catalina 36 have an emergency out on sea. A 40 │ │
+│*│ │ year old father is diabetic and has run out of │ │
+│*│ │ insulin and because he is the main sail operator, │ │
+│*│ │ the family is stuck at sea until medical │ │
+│*│ │ attention can arrive. The major problem is that │ │
+│*│ │ the USCG Cutter is four hours out on another │ │
+│*│ │ mission, from the last known location point of the │ │
+│*│ │ sailboat last communication beacon. But the there │ │
+│*│ │ is a Navy ship in closer proximity with UAV │ │
+│*│ │ capabilities. The USS Fitzgerald is 75 nm from │ │
+│*│ │ that last know location point and has the needed │ │
+│*│ │ medical supplies. USS Fitzgerald also has UAV │ │
+│*│ │ capabilities to transport the supplies in the │ │
+│*│ │ required time line. This Navy capability can │ │
+│*│ │ provide the needed supplies within the required │ │
+│*│ │ time line without risk of placing the patient at │ │
+│*│ │ risk of a diabetic coma. The Navy’s UAV can fly │ │
+│*│ │ out to the sailboat and dropoff the medical │ │
+│*│ │ supplies until the USCG can arrived to transport │ │
+│*│ │ the family to safety. Depends on: range, sea │ │
+│*│ │ states, weather, visibility, day, Night. Is it │ │
+│ │ │ raining? Hailing?" │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│ │
+│*│ ┌─[ References ]─────────────────────────────────────┠│
+│*│ │ Transit/Navigate Task in "Non-combatant Scenario 1"│ │
+│*│ │ authored by Nataki Roberts, 2017 │ │
+│*│ │ "Skyzer IM20 Mission Model (Non-Combatant │ │
+│*│ │ Operations Scenario)" authored by Nataki Roberts │ │
+│*│ │ in Giammarco, K; Carlson, C., Blackburn, M. │ │
+│*│ │ "Verification and Validation (V&V) of System │ │
+│*│ │ Behavior Specifications." Final Technical Report │ │
+│*│ │ SERC-2018-TR-116; Systems Engineering Research │ │
+│*│ │ Center: Hoboken, NJ, USA, 2018. Available online: │ │
+│*│ │ https://apps.dtic.mil/sti/citations/AD1063328 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│ │
+│*│ ┌─[ Search Terms ]───────────────────────────────────┠│
+│*│ │ behavior, UAV; Skyzer, autonomous │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│ │
+│*│ ┌─[ Instructions ]───────────────────────────────────┠│
+│*│ │ Run for Scopes 1 and up. │ │
+│*│ ├─[ Run Statistics ]─────────────────────────────────┤ │
+│*│ │ Scope 1: 8 traces in less than 1 sec. │ │
+│*│ │ Scope 2: 12 traces in less than 1 sec. │ │
+│*│ │ Scope 3: 16 traces in 1.55 sec. │ │
+│*│ └────────────────────────────────────────────────────┘ │
+└*┴───────────────────────────────────────────────────────*/
+
+
+SCHEMA Small_Package_Delivery_Phase_3_Transit_Navigate_Expanded
+
+
+/*-----------------------
+ RESCUEE BEHAVIORS
+-------------------------*/
+
+ROOT Rescuee: { Victim, EPIRB };
+
+ Victim: ( Receive_Payload
+ Emergency_Averted |
+
+ Payload_Not_Received
+ Diabetic_Coma );
+
+ EPIRB:;
+
+
+/*-----------------------------
+ MISSION COMMANDER BEHAVIORS
+-------------------------------*/
+ROOT Mission_Commander: Receive_Video
+ (* Confirm_Continue_Search
+ Receive_Video *)
+
+ ( Confirm_Vessel
+
+ ( Confirms_Drop_via_Video_Feed |
+ Confirms_Payload_Misses_Target )
+
+ | Confirm_Not_Found
+ | Confirm_Bingo_Fuel
+ )
+
+ Authorized_UAV_Return;
+
+
+/*-----------------------------
+ UAV OPERATOR BEHAVIORS
+-------------------------------*/
+ROOT UAV_Operator: (* Command_UAV_Continue_Search *)
+ [ Command_UAV_To_Drop_Payload ]
+ [ Release_UAV_to_Second_Location ]
+ Command_UAV_Return
+ Transfer_to_LOS_Communication
+ Command_UAV_to_Land
+ Turn_Off_UAV;
+
+/***INTERACTIONS***/
+
+COORDINATE $a: Confirm_Vessel FROM Mission_Commander,
+ $b: Command_UAV_To_Drop_Payload FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Confirm_Continue_Search FROM Mission_Commander,
+ $b: Command_UAV_Continue_Search FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Confirm_Not_Found FROM Mission_Commander,
+ $b: Release_UAV_to_Second_Location FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Authorized_UAV_Return FROM Mission_Commander,
+ $b: Command_UAV_Return FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+
+ROOT Control_Station: Receive_Video
+ (* Receive_Video *);
+
+/***INTERACTIONS***/
+
+Control_Station, Mission_Commander SHARE ALL Receive_Video;
+
+/*-----------------------------
+ Air Vehicle BEHAVIORS
+-------------------------------*/
+ROOT Air_Vehicle: Start_GPS_Navigation
+ Transit_to_Mission_Location
+ Detect_Beacon
+ Start_Searching
+
+ Transmit_Video
+
+ (* Vessel_Not_Found
+ Continue_Searching
+ Transmit_Video *)
+
+/* These probabilities are estimates
+ If possible, these should be adjusted based on operational experience
+*/
+ ( <<0.90>> Locate_Vessel
+ Holds_over_Vessel
+ Receive_Command
+ Drop_Payload
+/* These probabilities are estimates
+ If possible, these should be adjusted based on operational experience
+*/
+
+ ( <<0.90>> Payload_on_Target |
+ <<0.10>> Payload_Misses_Target )
+
+ | <<0.08>> Vessel_Not_Found
+ Stop_Search
+ | <<0.02>> Bingo_Fuel
+ )
+
+ Return_to_Hold_Point
+ Shut_Down;
+
+
+/***INTERACTIONS***/
+
+COORDINATE $a: Transmit_Video FROM Air_Vehicle,
+ $b: Receive_Video FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Locate_Vessel FROM Air_Vehicle,
+ $b: Confirm_Vessel FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Vessel_Not_Found FROM Air_Vehicle,
+ $b: ( Confirm_Continue_Search |
+ Confirm_Not_Found ) FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Bingo_Fuel FROM Air_Vehicle,
+ $b: Confirm_Bingo_Fuel FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Command_UAV_To_Drop_Payload FROM UAV_Operator,
+ $b: Receive_Command FROM Air_Vehicle
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Command_UAV_Continue_Search FROM UAV_Operator,
+ $b: Continue_Searching FROM Air_Vehicle
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Release_UAV_to_Second_Location FROM UAV_Operator,
+ $b: Stop_Search FROM Air_Vehicle
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Payload_on_Target FROM Air_Vehicle,
+ $b: Receive_Payload FROM Rescuee
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Payload_on_Target FROM Air_Vehicle,
+ $b: Confirms_Drop_via_Video_Feed FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: ( Stop_Search |
+ Payload_Misses_Target | Bingo_Fuel) FROM Air_Vehicle,
+ $b: Payload_Not_Received FROM Rescuee
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Payload_Misses_Target FROM Air_Vehicle,
+ $b: Confirms_Payload_Misses_Target FROM Mission_Commander
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Command_UAV_Return FROM UAV_Operator,
+ $b: Return_to_Hold_Point FROM Air_Vehicle
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Return_to_Hold_Point FROM Air_Vehicle,
+ $b: Transfer_to_LOS_Communication FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Turn_Off_UAV FROM UAV_Operator,
+ $b: Shut_Down FROM Air_Vehicle
+ DO ADD $a PRECEDES $b; OD;
+
+/*-----------------------------
+ Launch and Recovery System BEHAVIORS
+-------------------------------*/
+
+ROOT Launch_and_Recovery_System: { UCARS, RAST };
+
+ UCARS: Guide_UAV_To_Landing;
+ RAST: Grab_UAV;
+
+/***INTERACTIONS***/
+
+COORDINATE $a: Command_UAV_to_Land FROM UAV_Operator,
+ $b: Guide_UAV_To_Landing FROM Launch_and_Recovery_System
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Guide_UAV_To_Landing FROM Launch_and_Recovery_System,
+ $b: Grab_UAV FROM Launch_and_Recovery_System
+ DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Grab_UAV FROM Launch_and_Recovery_System,
+ $b: Turn_Off_UAV FROM UAV_Operator
+ DO ADD $a PRECEDES $b; OD;
+
+IF #Bingo_Fuel > 0 THEN MARK;FI;