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Copy pathMulti Robot Warehouse.uml
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Multi Robot Warehouse.uml
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<?xml version="1.0" encoding="UTF-8"?>
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<ownedUseCase xmi:type="uml:UseCase" xmi:id="_UlZgUPPrEe2meOCsU0trTQ" name="Stop" subject="_oLF04PPoEe2meOCsU0trTQ"/>
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<packagedElement xmi:type="uml:Actor" xmi:id="_Yx4c8PPtEe2meOCsU0trTQ" name="User"/>
<packagedElement xmi:type="uml:Interaction" xmi:id="_-rj3gPPwEe2meOCsU0trTQ" name="Digital Twin"/>
<packagedElement xmi:type="uml:Realization" xmi:id="_WlC1IPPxEe2meOCsU0trTQ" name="Realize" client="_-rj3gPPwEe2meOCsU0trTQ" supplier="_tvnNYPPoEe2meOCsU0trTQ"/>
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<packagedElement xmi:type="uml:Package" xmi:id="_QLLiEPltEe2hnaGt77BS1A" name="req [Package] Warehouse System">
<packagedElement xmi:type="uml:Class" xmi:id="_Nlm44PlrEe2hnaGt77BS1A" name="Task Allocation"/>
<packagedElement xmi:type="uml:Class" xmi:id="_SBpmYPlrEe2hnaGt77BS1A" name="Path Planning"/>
<packagedElement xmi:type="uml:Class" xmi:id="_GHdP0PlsEe2hnaGt77BS1A" name="Safety Navigation"/>
<packagedElement xmi:type="uml:Class" xmi:id="_d7zEMPlrEe2hnaGt77BS1A" name="Order Fulfillment"/>
<packagedElement xmi:type="uml:Class" xmi:id="_l5deUPlrEe2hnaGt77BS1A" name="System Monitoring"/>
<packagedElement xmi:type="uml:Class" xmi:id="_WJz5IPlsEe2hnaGt77BS1A" name="Scalability"/>
<packagedElement xmi:type="uml:Class" xmi:id="_qv7BgPlsEe2hnaGt77BS1A" name="Power management"/>
<packagedElement xmi:type="uml:Class" xmi:id="_3RfEoPlsEe2hnaGt77BS1A" name="Integration"/>
<packagedElement xmi:type="uml:Abstraction" xmi:id="_9gKQkPlwEe2hnaGt77BS1A" name="Satisfy" client="_QLLiEPltEe2hnaGt77BS1A" supplier="_KTeMUPMhEe2IrecUZd2RoA"/>
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<packagedElement xmi:type="uml:Model" xmi:id="_oNXBUPlwEe2hnaGt77BS1A" name="Warehouse System"/>
<packagedElement xmi:type="uml:Interaction" xmi:id="_wyMAgBdpEe6IuLqop-tsww" name="sd [Package] Warehouse Collision Avoidance">
<lifeline xmi:type="uml:Lifeline" xmi:id="_4H-iUBdpEe6IuLqop-tsww" name="Control System" coveredBy="_qb_okBdrEe6IuLqop-tsww _qcAPoBdrEe6IuLqop-tsww _m0DG8RdqEe6IuLqop-tsww _rjyMgRdqEe6IuLqop-tsww _rjyMghdqEe6IuLqop-tsww _m0OtIRdqEe6IuLqop-tsww _2JqmEBdqEe6IuLqop-tsww _2JqmERdqEe6IuLqop-tsww _94O0QRdqEe6IuLqop-tsww _CvYwcBdrEe6IuLqop-tsww _CvYwcRdrEe6IuLqop-tsww _M7gmMRdrEe6IuLqop-tsww _jyuOgBdrEe6IuLqop-tsww _94fS8BdqEe6IuLqop-tsww _m0NfABdqEe6IuLqop-tsww"/>
<lifeline xmi:type="uml:Lifeline" xmi:id="_k6JmEBdqEe6IuLqop-tsww" name="Robot" coveredBy="_qb_okBdrEe6IuLqop-tsww _qcAPoBdrEe6IuLqop-tsww _m0DG8BdqEe6IuLqop-tsww _m0OtIhdqEe6IuLqop-tsww _yTT_kBdqEe6IuLqop-tsww _yTT_kRdqEe6IuLqop-tsww _94O0QhdqEe6IuLqop-tsww _M7gmMhdrEe6IuLqop-tsww _T5Us4RdrEe6IuLqop-tsww _T5VT8BdrEe6IuLqop-tsww _Yq1UERdrEe6IuLqop-tsww _Yq1UEhdrEe6IuLqop-tsww _dT0RYBdrEe6IuLqop-tsww _dT0RYRdrEe6IuLqop-tsww _jyuOgRdrEe6IuLqop-tsww _94er4RdqEe6IuLqop-tsww _94ddwBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:CombinedFragment" xmi:id="_qb_okBdrEe6IuLqop-tsww" name="collision avoidance loop" covered="_k6JmEBdqEe6IuLqop-tsww _4H-iUBdpEe6IuLqop-tsww" interactionOperator="loop">
<operand xmi:type="uml:InteractionOperand" xmi:id="_qcAPoBdrEe6IuLqop-tsww" name="collision avoidance interaction" covered="_k6JmEBdqEe6IuLqop-tsww _4H-iUBdpEe6IuLqop-tsww">
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_m0DG8BdqEe6IuLqop-tsww" name="Message3SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_m0Cf4BdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_m0DG8RdqEe6IuLqop-tsww" name="Message3ReceiveEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_m0Cf4BdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_m0NfABdqEe6IuLqop-tsww" name="BehaviorExecutionSpecification6" covered="_4H-iUBdpEe6IuLqop-tsww" finish="_m0OtIRdqEe6IuLqop-tsww" start="_m0DG8RdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_rjyMgRdqEe6IuLqop-tsww" name="Message10SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_rjyMgBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_rjyMghdqEe6IuLqop-tsww" name="Message10ReceiveEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_rjyMgBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_m0OtIRdqEe6IuLqop-tsww" name="Message8SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_m0OtIBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_m0OtIhdqEe6IuLqop-tsww" name="Message8ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_m0OtIBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_yTT_kBdqEe6IuLqop-tsww" name="Message13SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_yTTYgBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_yTT_kRdqEe6IuLqop-tsww" name="Message13ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_yTTYgBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_2JqmEBdqEe6IuLqop-tsww" name="Message16SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_2Jp_ABdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_2JqmERdqEe6IuLqop-tsww" name="Message16ReceiveEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_2Jp_ABdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_94O0QRdqEe6IuLqop-tsww" name="Message19SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_94O0QBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_94O0QhdqEe6IuLqop-tsww" name="Message19ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_94O0QBdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_94ddwBdqEe6IuLqop-tsww" name="BehaviorExecutionSpecification22" covered="_k6JmEBdqEe6IuLqop-tsww" finish="_94er4RdqEe6IuLqop-tsww" start="_94O0QhdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_CvYwcBdrEe6IuLqop-tsww" name="Message26SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_CvYJYBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_CvYwcRdrEe6IuLqop-tsww" name="Message26ReceiveEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_CvYJYBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_M7gmMRdrEe6IuLqop-tsww" name="Message32SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_M7gmMBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_M7gmMhdrEe6IuLqop-tsww" name="Message32ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_M7gmMBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_T5Us4RdrEe6IuLqop-tsww" name="Message32SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_T5Us4BdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_T5VT8BdrEe6IuLqop-tsww" name="Message32ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_T5Us4BdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_Yq1UERdrEe6IuLqop-tsww" name="Message35SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_Yq1UEBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_Yq1UEhdrEe6IuLqop-tsww" name="Message35ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_Yq1UEBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_dT0RYBdrEe6IuLqop-tsww" name="Message38SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_dTzqUBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_dT0RYRdrEe6IuLqop-tsww" name="Message38ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_dTzqUBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_jyuOgBdrEe6IuLqop-tsww" name="Message41SendEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_jytncBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_jyuOgRdrEe6IuLqop-tsww" name="Message41ReceiveEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_jytncBdrEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_94er4RdqEe6IuLqop-tsww" name="Message24SendEvent" covered="_k6JmEBdqEe6IuLqop-tsww" message="_94er4BdqEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_94fS8BdqEe6IuLqop-tsww" name="Message24ReceiveEvent" covered="_4H-iUBdpEe6IuLqop-tsww" message="_94er4BdqEe6IuLqop-tsww"/>
</operand>
</fragment>
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<message xmi:type="uml:Message" xmi:id="_m0OtIBdqEe6IuLqop-tsww" name="Collision Is Detected" messageSort="reply" receiveEvent="_m0OtIhdqEe6IuLqop-tsww" sendEvent="_m0OtIRdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_rjyMgBdqEe6IuLqop-tsww" name="Calculate Safe Distance" messageSort="asynchCall" receiveEvent="_rjyMghdqEe6IuLqop-tsww" sendEvent="_rjyMgRdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_yTTYgBdqEe6IuLqop-tsww" name="Wait for Instructions" messageSort="asynchCall" receiveEvent="_yTT_kRdqEe6IuLqop-tsww" sendEvent="_yTT_kBdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_2Jp_ABdqEe6IuLqop-tsww" name="Start Assigning Avoidance Actions" messageSort="asynchCall" receiveEvent="_2JqmERdqEe6IuLqop-tsww" sendEvent="_2JqmEBdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_94O0QBdqEe6IuLqop-tsww" name="Send Stop Command" receiveEvent="_94O0QhdqEe6IuLqop-tsww" sendEvent="_94O0QRdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_94er4BdqEe6IuLqop-tsww" name="Updated Location" messageSort="reply" receiveEvent="_94fS8BdqEe6IuLqop-tsww" sendEvent="_94er4RdqEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_CvYJYBdrEe6IuLqop-tsww" name="Determine Priority" messageSort="asynchCall" receiveEvent="_CvYwcRdrEe6IuLqop-tsww" sendEvent="_CvYwcBdrEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_M7gmMBdrEe6IuLqop-tsww" name="Send Priority" messageSort="asynchCall" receiveEvent="_M7gmMhdrEe6IuLqop-tsww" sendEvent="_M7gmMRdrEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_T5Us4BdrEe6IuLqop-tsww" name="Define New Path to Destination" messageSort="asynchCall" receiveEvent="_T5VT8BdrEe6IuLqop-tsww" sendEvent="_T5Us4RdrEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_Yq1UEBdrEe6IuLqop-tsww" name="Adjust Direction" messageSort="asynchCall" receiveEvent="_Yq1UEhdrEe6IuLqop-tsww" sendEvent="_Yq1UERdrEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_dTzqUBdrEe6IuLqop-tsww" name="Start Moving" messageSort="asynchCall" receiveEvent="_dT0RYRdrEe6IuLqop-tsww" sendEvent="_dT0RYBdrEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_jytncBdrEe6IuLqop-tsww" name="Collision Avoided" messageSort="asynchCall" receiveEvent="_jyuOgRdrEe6IuLqop-tsww" sendEvent="_jyuOgBdrEe6IuLqop-tsww"/>
</packagedElement>
<packagedElement xmi:type="uml:Interaction" xmi:id="_3zOIYBdrEe6IuLqop-tsww" name="sd [Package] Warehouse Task Allocation">
<ownedAttribute xmi:type="uml:Property" xmi:id="_hxlA8CVzEe6Pu9fqtSI6TA" name="" type="_3zOIYBdrEe6IuLqop-tsww"/>
<ownedAttribute xmi:type="uml:Property" xmi:id="_hx3U0CVzEe6Pu9fqtSI6TA" name="" type="_3zOIYBdrEe6IuLqop-tsww"/>
<lifeline xmi:type="uml:Lifeline" xmi:id="_7_qToBdrEe6IuLqop-tsww" name="Robot" coveredBy="_wJRfABdsEe6IuLqop-tsww _wJRfARdsEe6IuLqop-tsww _IAxVEBdsEe6IuLqop-tsww _IAx8IBdsEe6IuLqop-tsww _NyNvQRdsEe6IuLqop-tsww _NyYHUBdsEe6IuLqop-tsww _cDCJgBdsEe6IuLqop-tsww _cDOWwRdsEe6IuLqop-tsww _i7l8wBdsEe6IuLqop-tsww _i7l8wRdsEe6IuLqop-tsww _txXzgRdsEe6IuLqop-tsww _NyWSIBdsEe6IuLqop-tsww _cDNIoBdsEe6IuLqop-tsww"/>
<lifeline xmi:type="uml:Lifeline" xmi:id="_8Y1BkBdrEe6IuLqop-tsww" name="Control System" coveredBy="_wJRfABdsEe6IuLqop-tsww _wJRfARdsEe6IuLqop-tsww _NyNvQBdsEe6IuLqop-tsww _NyYHURdsEe6IuLqop-tsww _VAn2sRdsEe6IuLqop-tsww _VAodwBdsEe6IuLqop-tsww _cDBicRdsEe6IuLqop-tsww _cDO90BdsEe6IuLqop-tsww _n1OlMRdsEe6IuLqop-tsww _n1PMQBdsEe6IuLqop-tsww _txXzghdsEe6IuLqop-tsww"/>
<lifeline xmi:type="uml:Lifeline" xmi:id="_hxkZ4CVzEe6Pu9fqtSI6TA" name="" represents="_hxlA8CVzEe6Pu9fqtSI6TA"/>
<lifeline xmi:type="uml:Lifeline" xmi:id="_hx2twCVzEe6Pu9fqtSI6TA" name="" represents="_hx3U0CVzEe6Pu9fqtSI6TA"/>
<fragment xmi:type="uml:CombinedFragment" xmi:id="_wJRfABdsEe6IuLqop-tsww" name="task allocation loop" covered="_7_qToBdrEe6IuLqop-tsww _8Y1BkBdrEe6IuLqop-tsww" interactionOperator="loop">
<operand xmi:type="uml:InteractionOperand" xmi:id="_wJRfARdsEe6IuLqop-tsww" name="task allocation interaction" covered="_7_qToBdrEe6IuLqop-tsww _8Y1BkBdrEe6IuLqop-tsww">
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_IAxVEBdsEe6IuLqop-tsww" name="Message3SendEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_IAwuABdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_IAx8IBdsEe6IuLqop-tsww" name="Message3ReceiveEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_IAwuABdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_NyNvQBdsEe6IuLqop-tsww" name="Message6SendEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_NyNIMBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_NyNvQRdsEe6IuLqop-tsww" name="Message6ReceiveEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_NyNIMBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_NyWSIBdsEe6IuLqop-tsww" name="BehaviorExecutionSpecification9" covered="_7_qToBdrEe6IuLqop-tsww" finish="_NyYHUBdsEe6IuLqop-tsww" start="_NyNvQRdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_NyYHUBdsEe6IuLqop-tsww" name="Message11SendEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_NyXgQBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_NyYHURdsEe6IuLqop-tsww" name="Message11ReceiveEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_NyXgQBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_VAn2sRdsEe6IuLqop-tsww" name="Message13SendEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_VAn2sBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_VAodwBdsEe6IuLqop-tsww" name="Message13ReceiveEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_VAn2sBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_cDBicRdsEe6IuLqop-tsww" name="Message16SendEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_cDBicBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_cDCJgBdsEe6IuLqop-tsww" name="Message16ReceiveEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_cDBicBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_cDNIoBdsEe6IuLqop-tsww" name="BehaviorExecutionSpecification19" covered="_7_qToBdrEe6IuLqop-tsww" finish="_cDOWwRdsEe6IuLqop-tsww" start="_cDCJgBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_cDOWwRdsEe6IuLqop-tsww" name="Message21SendEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_cDOWwBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_cDO90BdsEe6IuLqop-tsww" name="Message21ReceiveEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_cDOWwBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_i7l8wBdsEe6IuLqop-tsww" name="Message23SendEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_i7lVsBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_i7l8wRdsEe6IuLqop-tsww" name="Message23ReceiveEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_i7lVsBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_n1OlMRdsEe6IuLqop-tsww" name="Message26SendEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_n1OlMBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_n1PMQBdsEe6IuLqop-tsww" name="Message26ReceiveEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_n1OlMBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_txXzgRdsEe6IuLqop-tsww" name="Message29SendEvent" covered="_7_qToBdrEe6IuLqop-tsww" message="_txXzgBdsEe6IuLqop-tsww"/>
<fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_txXzghdsEe6IuLqop-tsww" name="Message29ReceiveEvent" covered="_8Y1BkBdrEe6IuLqop-tsww" message="_txXzgBdsEe6IuLqop-tsww"/>
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<message xmi:type="uml:Message" xmi:id="_IAwuABdsEe6IuLqop-tsww" name="Update Availability" messageSort="asynchCall" receiveEvent="_IAx8IBdsEe6IuLqop-tsww" sendEvent="_IAxVEBdsEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_NyNIMBdsEe6IuLqop-tsww" name="Get Robot Availability" receiveEvent="_NyNvQRdsEe6IuLqop-tsww" sendEvent="_NyNvQBdsEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_NyXgQBdsEe6IuLqop-tsww" name="Reply" messageSort="reply" receiveEvent="_NyYHURdsEe6IuLqop-tsww" sendEvent="_NyYHUBdsEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_VAn2sBdsEe6IuLqop-tsww" name="Update Robots Availability Database" messageSort="asynchCall" receiveEvent="_VAodwBdsEe6IuLqop-tsww" sendEvent="_VAn2sRdsEe6IuLqop-tsww"/>
<message xmi:type="uml:Message" xmi:id="_cDBicBdsEe6IuLqop-tsww" name="Assing New Task" receiveEvent="_cDCJgBdsEe6IuLqop-tsww" sendEvent="_cDBicRdsEe6IuLqop-tsww"/>
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<fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_psxgMBdtEe6IuLqop-tsww" name="BehaviorExecutionSpecification18" covered="_7L434BdsEe6IuLqop-tsww" finish="_psz8cBdtEe6IuLqop-tsww" start="_psnIIRdtEe6IuLqop-tsww"/>
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<packagedElement xmi:type="uml:Activity" xmi:id="_vMWMwPisEe2qqvKPwgHlyw" name="act [Point-to-Point Navigation Model]" node="_g8NQgPjDEe2qqvKPwgHlyw _-UdZYPjCEe2qqvKPwgHlyw _TuThQPjCEe2qqvKPwgHlyw _9g0LYPjBEe2qqvKPwgHlyw _xAXYAPjAEe2qqvKPwgHlyw _72-nIPi-Ee2qqvKPwgHlyw _ZZ2roPi-Ee2qqvKPwgHlyw _x6VpwPi8Ee2qqvKPwgHlyw _E2tpoPi8Ee2qqvKPwgHlyw _s746IPi5Ee2qqvKPwgHlyw _fCnW0PixEe2qqvKPwgHlyw _nIn-ECY3Ee6yQ7EMo20h8w _ReyBoD6-Ee6yUdoEfV9Uuw _VDtrgD6_Ee6yUdoEfV9Uuw">
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<body>d=√((x1-x2)2+(y1-y2)2)</body>
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<body>θ^=atan2(x2−x1,y2−y1)∈(−π,π]</body>
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<language>Natural language</language>
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<body>Distance between two points (x1, y1) and (x2, y2):
Euclidean Distance Formula: distance = sqrt((x2 - x1)^2 + (y2 - y1)^2)</body>
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<body>Define the bearing angle θ from a point A(x1, y1) to a point B(x2, y2) as the angle measured in the clockwise direction from the north line with A as the origin to the line segment AB.
Bearing angle between two points A(x1, y1) to a point B(x2, y2):
θ^=atan2(x2−x1,y2−y1)∈(−π,π]
Then the bearing angle θ∈[0,2π) is given by
θ={θ^, θ^≥0
2π+θ^, θ^<0}</body>
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<body>Forward Kinematics:
v = (r/2) * (wL + wR)
ω = (r/L) * (wR - wL)</body>
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<body>Inverse Kinematics:
wL = (v - (L/2) * ω) / r
wR = (v + (L/2) * ω) / r</body>
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<body>communicate/coordinate</body>
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