Reactive Model-based Programming mErS Idea: Describe team behaviors by starting with a rich concurrent embedded programming language(RMPL,TCC, Esterel) Sensing/actuation activities If c next A Conditional execution ● Unless c next A Preemption A B Full concurrency always A · Iteration Add temporal constraints A u · Timing Add choice(non-deterministic or decision-theoretic) Choose(A, B) · Contingency Example Enroute Activity: MERS Enroute Rendezvous escue a CorridReactive Model-based Programming Idea: Describe team behaviors by starting with a rich concurrent, embedded programming language (RMPL,TCC, Esterel): z c z If c next A z Unless c next A z A, B z Always A • Sensing/actuation activities • Conditional execution • Preemption • Full concurrency • Iteration z A [l,u] • Timing z Add temporal constraints: z Choose {A, B} • Contingency z Add choice (non-deterministic or decision-theoretic): Example Enroute Activity: Rendezvous Rescue Area Corridor 2 Corridor 1 Enroute