Modeling complex behaviors through Probabilistic concurrent constraint automata Valve Stuck Stuck Closed closed inflow outflow=0 Complex, discrete behaviors modeled through concurrency, hierarchy and non-determinism Anomalies and uncertainty modeled by probabilistic transitions Physical interactions modeled by discrete and continuous constraints Outline MERS Model-based Programming Cooperative Vehicle Missions The Reactive Model-based Programming Language (repl Temporal Plan Networks(TPN) Activity Planning(Kirk Unifying Activity and Path PlanningClosed Valve Open Stuck open Stuck closed Open Close 0. 01 0. 01 0.01 0.01 inflow = outflow = 0 Modeling Complex Behaviors through Probabilistic Concurrent Constraint Automata • Complex, discrete behaviors • modeled through concurrency, hierarchy and non-determinism. • Anomalies and uncertainty • modeled by probabilistic transitions • Physical interactions • modeled by discrete and continuous constraints Outline • Model-based Programming • Cooperative Vehicle Missions • The Reactive Model-based Programming Language (RMPL) • Temporal Plan Networks (TPN) • Activity Planning (Kirk) • Unifying Activity and Path Planning