Hierarchical system architecture for multi-agent multi-modal systems

A hierarchical system architecture for multi-agent multi-modal systems is proposed. The design principle for the construction of the hierarchy is based on bisimulation and therefore a higher-level system and a lower-level system are bisimilar. The layered system is designed to promote proof obligations so that the system specification at one level of granularity conforms with system specification at another level and vice versa. Our approach is illustrated on designing a system architecture for executing a mission of controlling a group of autonomous agents in the pursuit of multiple evaders