Task: Remotely Operated Vehicle (ROV) Mine Hunting

Tree

• sequence TaskRoot
  • sequence PreChecks
    • conditional IsOperational cond: IsOperational
    • conditional HasFuel cond: HasFuel
  • parallel SenseAndExecute
    • task ActivateSensors action: ActivateSensors
    • sequence Execution
      • sequence SubtaskSequence
        • task LaunchROV Subtask #901
        • task SearchAreaSystematically Subtask #902
        • task IdentifyMineTypes Subtask #903
        • task MarkForNeutralization Subtask #904
        • task RecoverROV Subtask #905