High-Level Architecture and Design of a Decision Engine for Marine Safety and Security1
Piper Jackson∗, Uwe Glässer∗, Hamed Yaghoubi Shahir∗ and Hans Wehn†, ∗Software Technology Lab, School of Computing Science, Simon Fraser University, Burnaby, British Columbia, Canada, †Research & Development, MDA Corporation, Richmond, British Columbia, Canada
5.2.3 Fundamental Planning Elements
5.2.4 Hierarchical Task Networks
5.3.2 System Architecture and Design
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