Multiagent Mission Specification and Execution

@article{MacKenzie1997MultiagentMS,
  title={Multiagent Mission Specification and Execution},
  author={Douglas C. MacKenzie and Ronald C. Arkin and Jonathan M. Cameron},
  journal={Autonomous Robots},
  year={1997},
  volume={4},
  pages={29-52}
}
Specifying a reactive behavioral configuration for use by a multiagent team requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the mission. This difficult task is simplified by applying an object-oriented approach to the design of the mission using a construction called an assemblage and a methodology called temporal sequencing. The assemblage construct allows building high level primitives which provide abstractions for the… 

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