Formal, holarchical representation of tactical behaviors

We address the formal representation of military tactical behaviors, in particular, the coordinated movements of experimental unmanned vehicles (XUVs). A unit of cooperating XUVs is considered a multiagent system on which the hierarchical structure of military command and control is imposed to yield a holarchy, a hierarchy of holons, where a holon is both a whole and a part. To model holarchical units of XUVs, we use a statechart extension called a parts/whole statechart, which introduces a coordinating whole as a concurrent component on a par with the coordinated parts. Implementing a part amounts to endowing an individual with the capacity for certain public behavior, while implementing a whole amounts to endowing the subsumed individuals with common knowledge hence the capacity for certain social behavior.