Specification and execution of multiagent missions

Specifying a multiagent behavioral configuration requires both a careful choice of the behavior set and creation of a temporal chain executing the mission using those behaviors. This difficult task is simplified by applying an object-oriented approach to the design using a methodology called temporal sequencing to partition the mission into discrete operating states and enumerate the perceptual triggers causing transitions between those states. Several smaller independent configurations (assemblages) can then be created, each implementing one distinct operating state. Each assemblage consists of a collection of behaviors and a suitable coordination mechanism which causes the group to act as a single, coherent, behavior. The missions are specified in a structured user-friendly language targeted for military-style scout missions. Various multiagent missions have been demonstrated in simulation and results are shown using our Denning mobile robots.