From 6061bc657c47872a6fbbd7dcbd0362a4094eea77 Mon Sep 17 00:00:00 2001
From: Ludovic Apvrille <ludovic.apvrille@telecom-paris.fr>
Date: Fri, 3 May 2024 15:38:24 +0200
Subject: [PATCH] Adding model for wsec

---
 modeling/WSec/wsec_avatar.xml                 | 97163 ++++++++++++++++
 .../window/JDialogProverifVerification.java   |     2 +-
 2 files changed, 97164 insertions(+), 1 deletion(-)
 create mode 100644 modeling/WSec/wsec_avatar.xml

diff --git a/modeling/WSec/wsec_avatar.xml b/modeling/WSec/wsec_avatar.xml
new file mode 100644
index 0000000000..8e32c90ca3
--- /dev/null
+++ b/modeling/WSec/wsec_avatar.xml
@@ -0,0 +1,97163 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="7" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="AVATAR Design" nameTab="Nominal" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39360" index="0" uid="9fce84af-3e7e-43c4-9e53-dd89dc5de089" >
+<cdparam x="44" y="19" />
+<sizeparam width="382" height="63" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This model features the mangement of a platoon
+- A leader rovermanages the platoon
+- Followers can join or leave
+
+This model was done in the scope of the CAPE SPARTA project" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39361" />
+<TGConnectingPoint num="1" id="39362" />
+<TGConnectingPoint num="2" id="39363" />
+<TGConnectingPoint num="3" id="39364" />
+<TGConnectingPoint num="4" id="39365" />
+<TGConnectingPoint num="5" id="39366" />
+<TGConnectingPoint num="6" id="39367" />
+<TGConnectingPoint num="7" id="39368" />
+<TGConnectingPoint num="8" id="39369" />
+<TGConnectingPoint num="9" id="39370" />
+<TGConnectingPoint num="10" id="39371" />
+<TGConnectingPoint num="11" id="39372" />
+<TGConnectingPoint num="12" id="39373" />
+<TGConnectingPoint num="13" id="39374" />
+<TGConnectingPoint num="14" id="39375" />
+<TGConnectingPoint num="15" id="39376" />
+<extraparam>
+<Line value="This model features the mangement of a platoon" />
+<Line value="- A leader rovermanages the platoon" />
+<Line value="- Followers can join or leave" />
+<Line value="" />
+<Line value="This model was done in the scope of the CAPE SPARTA project" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="2" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="1" />
+<P1  x="1003" y="771" id="310" />
+<P2  x="1029" y="772" id="432" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3" />
+<P1  x="465" y="591" id="113" />
+<P2  x="465" y="653" id="266" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="6" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5" />
+<P1  x="879" y="589" id="72" />
+<P2  x="878" y="653" id="307" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="8" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="7" />
+<P1  x="1297" y="589" id="31" />
+<P2  x="1298" y="653" id="225" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="10" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9" />
+<P1  x="878" y="890" id="312" />
+<P2  x="876" y="926" id="166" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="12" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="11" />
+<P1  x="1298" y="891" id="230" />
+<P2  x="1001" y="1040" id="169" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="13" />
+<P1  x="1423" y="772" id="228" />
+<P2  x="1448" y="773" id="350" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="16" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="15" />
+<P1  x="590" y="772" id="269" />
+<P2  x="619" y="773" id="391" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="18" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="17" />
+<P1  x="465" y="891" id="271" />
+<P2  x="751" y="1040" id="168" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="20" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19" />
+<P1  x="795" y="243" id="484" />
+<P2  x="465" y="331" id="108" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="22" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="21" />
+<P1  x="877" y="243" id="476" />
+<P2  x="879" y="332" id="67" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="23" />
+<P1  x="959" y="243" id="485" />
+<P2  x="1297" y="329" id="26" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="65" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25" />
+<TGConnectingPoint num="1" id="26" />
+<TGConnectingPoint num="2" id="27" />
+<TGConnectingPoint num="3" id="28" />
+<TGConnectingPoint num="4" id="29" />
+<TGConnectingPoint num="5" id="30" />
+<TGConnectingPoint num="6" id="31" />
+<TGConnectingPoint num="7" id="32" />
+<TGConnectingPoint num="8" id="33" />
+<TGConnectingPoint num="9" id="34" />
+<TGConnectingPoint num="10" id="35" />
+<TGConnectingPoint num="11" id="36" />
+<TGConnectingPoint num="12" id="37" />
+<TGConnectingPoint num="13" id="38" />
+<TGConnectingPoint num="14" id="39" />
+<TGConnectingPoint num="15" id="40" />
+<TGConnectingPoint num="16" id="41" />
+<TGConnectingPoint num="17" id="42" />
+<TGConnectingPoint num="18" id="43" />
+<TGConnectingPoint num="19" id="44" />
+<TGConnectingPoint num="20" id="45" />
+<TGConnectingPoint num="21" id="46" />
+<TGConnectingPoint num="22" id="47" />
+<TGConnectingPoint num="23" id="48" />
+<TGConnectingPoint num="24" id="49" />
+<TGConnectingPoint num="25" id="50" />
+<TGConnectingPoint num="26" id="51" />
+<TGConnectingPoint num="27" id="52" />
+<TGConnectingPoint num="28" id="53" />
+<TGConnectingPoint num="29" id="54" />
+<TGConnectingPoint num="30" id="55" />
+<TGConnectingPoint num="31" id="56" />
+<TGConnectingPoint num="32" id="57" />
+<TGConnectingPoint num="33" id="58" />
+<TGConnectingPoint num="34" id="59" />
+<TGConnectingPoint num="35" id="60" />
+<TGConnectingPoint num="36" id="61" />
+<TGConnectingPoint num="37" id="62" />
+<TGConnectingPoint num="38" id="63" />
+<TGConnectingPoint num="39" id="64" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="false" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="false" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="106" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="66" />
+<TGConnectingPoint num="1" id="67" />
+<TGConnectingPoint num="2" id="68" />
+<TGConnectingPoint num="3" id="69" />
+<TGConnectingPoint num="4" id="70" />
+<TGConnectingPoint num="5" id="71" />
+<TGConnectingPoint num="6" id="72" />
+<TGConnectingPoint num="7" id="73" />
+<TGConnectingPoint num="8" id="74" />
+<TGConnectingPoint num="9" id="75" />
+<TGConnectingPoint num="10" id="76" />
+<TGConnectingPoint num="11" id="77" />
+<TGConnectingPoint num="12" id="78" />
+<TGConnectingPoint num="13" id="79" />
+<TGConnectingPoint num="14" id="80" />
+<TGConnectingPoint num="15" id="81" />
+<TGConnectingPoint num="16" id="82" />
+<TGConnectingPoint num="17" id="83" />
+<TGConnectingPoint num="18" id="84" />
+<TGConnectingPoint num="19" id="85" />
+<TGConnectingPoint num="20" id="86" />
+<TGConnectingPoint num="21" id="87" />
+<TGConnectingPoint num="22" id="88" />
+<TGConnectingPoint num="23" id="89" />
+<TGConnectingPoint num="24" id="90" />
+<TGConnectingPoint num="25" id="91" />
+<TGConnectingPoint num="26" id="92" />
+<TGConnectingPoint num="27" id="93" />
+<TGConnectingPoint num="28" id="94" />
+<TGConnectingPoint num="29" id="95" />
+<TGConnectingPoint num="30" id="96" />
+<TGConnectingPoint num="31" id="97" />
+<TGConnectingPoint num="32" id="98" />
+<TGConnectingPoint num="33" id="99" />
+<TGConnectingPoint num="34" id="100" />
+<TGConnectingPoint num="35" id="101" />
+<TGConnectingPoint num="36" id="102" />
+<TGConnectingPoint num="37" id="103" />
+<TGConnectingPoint num="38" id="104" />
+<TGConnectingPoint num="39" id="105" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
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+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+
+
+</AVATARBlockDiagramPanel>
+
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+<extraDelay1 value="" enabled="true"/>
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<TGConnectingPoint num="15" id="1478" />
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+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
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+<extraparam>
+</extraparam>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3852" />
+<TGConnectingPoint num="1" id="3853" />
+<TGConnectingPoint num="2" id="3854" />
+<TGConnectingPoint num="3" id="3855" />
+<TGConnectingPoint num="4" id="3856" />
+<TGConnectingPoint num="5" id="3857" />
+<TGConnectingPoint num="6" id="3858" />
+<TGConnectingPoint num="7" id="3859" />
+<TGConnectingPoint num="8" id="3860" />
+<TGConnectingPoint num="9" id="3861" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="3878" index="69" uid="ac53fcee-2152-4a5d-bb83-162ab6937014" >
+<cdparam x="556" y="894" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3863" />
+<TGConnectingPoint num="1" id="3864" />
+<TGConnectingPoint num="2" id="3865" />
+<TGConnectingPoint num="3" id="3866" />
+<TGConnectingPoint num="4" id="3867" />
+<TGConnectingPoint num="5" id="3868" />
+<TGConnectingPoint num="6" id="3869" />
+<TGConnectingPoint num="7" id="3870" />
+<TGConnectingPoint num="8" id="3871" />
+<TGConnectingPoint num="9" id="3872" />
+<TGConnectingPoint num="10" id="3873" />
+<TGConnectingPoint num="11" id="3874" />
+<TGConnectingPoint num="12" id="3875" />
+<TGConnectingPoint num="13" id="3876" />
+<TGConnectingPoint num="14" id="3877" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="3885" index="0" uid="1c5f47af-3244-493b-8719-0df184d8be4e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3884" />
+<P1  x="407" y="70" id="3906" />
+<P2  x="407" y="109" id="3893" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3883" index="5" uid="ccc1c921-0c9d-4665-b53c-eeab245f81c3" >
+<father id="3885" num="0" />
+<cdparam x="427" y="88" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3879" />
+<TGConnectingPoint num="1" id="3880" />
+<TGConnectingPoint num="2" id="3881" />
+<TGConnectingPoint num="3" id="3882" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3892" index="1" uid="b81148dc-8397-492d-a8ff-cfc46782f236" >
+<cdparam x="447" y="141" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3891" />
+<P1  x="407" y="144" id="3894" />
+<P2  x="407" y="190" id="3904" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3890" index="6" uid="b63eabf9-c7a8-47a6-a826-71a6802c3c99" >
+<father id="3892" num="0" />
+<cdparam x="427" y="165" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3886" />
+<TGConnectingPoint num="1" id="3887" />
+<TGConnectingPoint num="2" id="3888" />
+<TGConnectingPoint num="3" id="3889" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="3903" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
+<cdparam x="357" y="114" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3893" />
+<TGConnectingPoint num="1" id="3894" />
+<TGConnectingPoint num="2" id="3895" />
+<TGConnectingPoint num="3" id="3896" />
+<TGConnectingPoint num="4" id="3897" />
+<TGConnectingPoint num="5" id="3898" />
+<TGConnectingPoint num="6" id="3899" />
+<TGConnectingPoint num="7" id="3900" />
+<TGConnectingPoint num="8" id="3901" />
+<TGConnectingPoint num="9" id="3902" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="3905" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3904" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="3907" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3906" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="3914" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3913" />
+<P1  x="407" y="70" id="3935" />
+<P2  x="407" y="110" id="3922" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3912" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="3914" num="0" />
+<cdparam x="427" y="99" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3908" />
+<TGConnectingPoint num="1" id="3909" />
+<TGConnectingPoint num="2" id="3910" />
+<TGConnectingPoint num="3" id="3911" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3921" index="1" uid="43d46f5b-11aa-4ebe-8760-5a74e0221c9c" >
+<cdparam x="448" y="163" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3920" />
+<P1  x="407" y="145" id="3923" />
+<P2  x="407" y="188" id="3933" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3919" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="3921" num="0" />
+<cdparam x="427" y="175" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3915" />
+<TGConnectingPoint num="1" id="3916" />
+<TGConnectingPoint num="2" id="3917" />
+<TGConnectingPoint num="3" id="3918" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="3932" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
+<cdparam x="357" y="115" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3922" />
+<TGConnectingPoint num="1" id="3923" />
+<TGConnectingPoint num="2" id="3924" />
+<TGConnectingPoint num="3" id="3925" />
+<TGConnectingPoint num="4" id="3926" />
+<TGConnectingPoint num="5" id="3927" />
+<TGConnectingPoint num="6" id="3928" />
+<TGConnectingPoint num="7" id="3929" />
+<TGConnectingPoint num="8" id="3930" />
+<TGConnectingPoint num="9" id="3931" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="3934" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3933" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="3936" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3935" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="3943" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3942" />
+<P1  x="0" y="0" id="4103" />
+<P2  x="0" y="0" id="4105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3941" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="3943" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3937" />
+<TGConnectingPoint num="1" id="3938" />
+<TGConnectingPoint num="2" id="3939" />
+<TGConnectingPoint num="3" id="3940" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3950" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
+<cdparam x="407" y="147" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3949" />
+<P1  x="0" y="0" id="4106" />
+<P2  x="0" y="0" id="4123" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3948" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="3950" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3944" />
+<TGConnectingPoint num="1" id="3945" />
+<TGConnectingPoint num="2" id="3946" />
+<TGConnectingPoint num="3" id="3947" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3957" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3956" />
+<P1  x="407" y="70" id="3978" />
+<P2  x="407" y="108" id="3965" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3955" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="3957" num="0" />
+<cdparam x="424" y="89" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3951" />
+<TGConnectingPoint num="1" id="3952" />
+<TGConnectingPoint num="2" id="3953" />
+<TGConnectingPoint num="3" id="3954" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3964" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3963" />
+<P1  x="407" y="143" id="3966" />
+<P2  x="407" y="188" id="3976" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
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+<TGConnectingPoint num="2" id="3960" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="4012" />
+<TGConnectingPoint num="3" id="4013" />
+<extraparam>
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="4240" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4239" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="4242" index="6" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4241" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="4249" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4248" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4247" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="4249" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4243" />
+<TGConnectingPoint num="1" id="4244" />
+<TGConnectingPoint num="2" id="4245" />
+<TGConnectingPoint num="3" id="4246" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4256" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4255" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4254" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="4256" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4250" />
+<TGConnectingPoint num="1" id="4251" />
+<TGConnectingPoint num="2" id="4252" />
+<TGConnectingPoint num="3" id="4253" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4263" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4262" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4261" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="4263" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4257" />
+<TGConnectingPoint num="1" id="4258" />
+<TGConnectingPoint num="2" id="4259" />
+<TGConnectingPoint num="3" id="4260" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4270" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4269" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4268" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="4270" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4264" />
+<TGConnectingPoint num="1" id="4265" />
+<TGConnectingPoint num="2" id="4266" />
+<TGConnectingPoint num="3" id="4267" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4277" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4276" />
+<P1  x="407" y="70" id="4298" />
+<P2  x="407" y="125" id="4285" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4275" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="4277" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4271" />
+<TGConnectingPoint num="1" id="4272" />
+<TGConnectingPoint num="2" id="4273" />
+<TGConnectingPoint num="3" id="4274" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4284" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4283" />
+<P1  x="407" y="160" id="4286" />
+<P2  x="407" y="224" id="4296" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4282" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="4284" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4278" />
+<TGConnectingPoint num="1" id="4279" />
+<TGConnectingPoint num="2" id="4280" />
+<TGConnectingPoint num="3" id="4281" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="4295" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4285" />
+<TGConnectingPoint num="1" id="4286" />
+<TGConnectingPoint num="2" id="4287" />
+<TGConnectingPoint num="3" id="4288" />
+<TGConnectingPoint num="4" id="4289" />
+<TGConnectingPoint num="5" id="4290" />
+<TGConnectingPoint num="6" id="4291" />
+<TGConnectingPoint num="7" id="4292" />
+<TGConnectingPoint num="8" id="4293" />
+<TGConnectingPoint num="9" id="4294" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="4297" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4296" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="4299" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4298" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="4306" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4305" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4304" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="4306" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4300" />
+<TGConnectingPoint num="1" id="4301" />
+<TGConnectingPoint num="2" id="4302" />
+<TGConnectingPoint num="3" id="4303" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4313" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4312" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4311" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="4313" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4307" />
+<TGConnectingPoint num="1" id="4308" />
+<TGConnectingPoint num="2" id="4309" />
+<TGConnectingPoint num="3" id="4310" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4320" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4319" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4318" index="11" uid="0c95aead-f787-42ef-81ed-073b7584a7e5" >
+<father id="4320" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4314" />
+<TGConnectingPoint num="1" id="4315" />
+<TGConnectingPoint num="2" id="4316" />
+<TGConnectingPoint num="3" id="4317" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4327" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4326" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4325" index="12" uid="64ac3868-1d9f-489e-becb-836c0180fcb5" >
+<father id="4327" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4321" />
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+<delayDistributionLaw value="0" enabled="true"/>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
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+
+
+</AVATARStateMachineDiagramPanel>
+
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+<extraparam>
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+<extraDelay1 value="" enabled="true"/>
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+<hidden value="false" />
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+<extraparam>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<hidden value="false" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="4388" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
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+<hidden value="false" />
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+<infoparam name="state0" value="loop" />
+<new d="false" />
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+</AVATARStateMachineDiagramPanel>
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
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+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="4629" />
+<TGConnectingPoint num="3" id="4630" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4644" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4643" />
+<P1  x="407" y="70" id="4754" />
+<P2  x="407" y="110" id="4682" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4642" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="4644" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4638" />
+<TGConnectingPoint num="1" id="4639" />
+<TGConnectingPoint num="2" id="4640" />
+<TGConnectingPoint num="3" id="4641" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4651" index="2" uid="ba7ba4a7-d1d0-4862-ac85-1da2fc29b06c" >
+<cdparam x="407" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4650" />
+<P1  x="407" y="160" id="4719" />
+<P2  x="407" y="193" id="4670" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4649" index="14" uid="2b071846-7882-4b48-bece-f7e167430610" >
+<father id="4651" num="0" />
+<cdparam x="408" y="172" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4645" />
+<TGConnectingPoint num="1" id="4646" />
+<TGConnectingPoint num="2" id="4647" />
+<TGConnectingPoint num="3" id="4648" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4658" index="3" uid="6ed600ff-b5d0-4bd6-a725-280fa95e1a62" >
+<cdparam x="407" y="223" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4657" />
+<P1  x="407" y="223" id="4671" />
+<P2  x="407" y="265" id="4659" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4656" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="4658" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4652" />
+<TGConnectingPoint num="1" id="4653" />
+<TGConnectingPoint num="2" id="4654" />
+<TGConnectingPoint num="3" id="4655" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="4669" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4659" />
+<TGConnectingPoint num="1" id="4660" />
+<TGConnectingPoint num="2" id="4661" />
+<TGConnectingPoint num="3" id="4662" />
+<TGConnectingPoint num="4" id="4663" />
+<TGConnectingPoint num="5" id="4664" />
+<TGConnectingPoint num="6" id="4665" />
+<TGConnectingPoint num="7" id="4666" />
+<TGConnectingPoint num="8" id="4667" />
+<TGConnectingPoint num="9" id="4668" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4680" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4670" />
+<TGConnectingPoint num="1" id="4671" />
+<TGConnectingPoint num="2" id="4672" />
+<TGConnectingPoint num="3" id="4673" />
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+<TGConnectingPoint num="7" id="4677" />
+<TGConnectingPoint num="8" id="4678" />
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+</COMPONENT>
+
+<COMPONENT type="5106" id="4753" index="6" uid="42d36278-3570-422a-b91a-3ee94dc0769a" >
+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4681" />
+<TGConnectingPoint num="1" id="4682" />
+<TGConnectingPoint num="2" id="4683" />
+<TGConnectingPoint num="3" id="4684" />
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+<TGConnectingPoint num="10" id="4691" />
+<TGConnectingPoint num="11" id="4692" />
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+<TGConnectingPoint num="15" id="4696" />
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+<TGConnectingPoint num="34" id="4715" />
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+<TGConnectingPoint num="36" id="4717" />
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+<TGConnectingPoint num="38" id="4719" />
+<TGConnectingPoint num="39" id="4720" />
+<TGConnectingPoint num="40" id="4721" />
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+<TGConnectingPoint num="44" id="4725" />
+<TGConnectingPoint num="45" id="4726" />
+<TGConnectingPoint num="46" id="4727" />
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+<TGConnectingPoint num="48" id="4729" />
+<TGConnectingPoint num="49" id="4730" />
+<TGConnectingPoint num="50" id="4731" />
+<TGConnectingPoint num="51" id="4732" />
+<TGConnectingPoint num="52" id="4733" />
+<TGConnectingPoint num="53" id="4734" />
+<TGConnectingPoint num="54" id="4735" />
+<TGConnectingPoint num="55" id="4736" />
+<TGConnectingPoint num="56" id="4737" />
+<TGConnectingPoint num="57" id="4738" />
+<TGConnectingPoint num="58" id="4739" />
+<TGConnectingPoint num="59" id="4740" />
+<TGConnectingPoint num="60" id="4741" />
+<TGConnectingPoint num="61" id="4742" />
+<TGConnectingPoint num="62" id="4743" />
+<TGConnectingPoint num="63" id="4744" />
+<TGConnectingPoint num="64" id="4745" />
+<TGConnectingPoint num="65" id="4746" />
+<TGConnectingPoint num="66" id="4747" />
+<TGConnectingPoint num="67" id="4748" />
+<TGConnectingPoint num="68" id="4749" />
+<TGConnectingPoint num="69" id="4750" />
+<TGConnectingPoint num="70" id="4751" />
+<TGConnectingPoint num="71" id="4752" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="4755" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4754" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="Nominal_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="4757" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4756" />
+<P1  x="1003" y="771" id="5065" />
+<P2  x="1029" y="772" id="5187" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4759" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4758" />
+<P1  x="465" y="591" id="4868" />
+<P2  x="465" y="653" id="5021" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4761" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4760" />
+<P1  x="879" y="589" id="4827" />
+<P2  x="878" y="653" id="5062" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4763" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4762" />
+<P1  x="1297" y="589" id="4786" />
+<P2  x="1298" y="653" id="4980" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4765" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4764" />
+<P1  x="878" y="890" id="5067" />
+<P2  x="876" y="926" id="4921" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4767" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4766" />
+<P1  x="1298" y="891" id="4985" />
+<P2  x="1001" y="1040" id="4924" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4769" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4768" />
+<P1  x="1423" y="772" id="4983" />
+<P2  x="1448" y="773" id="5105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4771" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4770" />
+<P1  x="590" y="772" id="5024" />
+<P2  x="619" y="773" id="5146" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4773" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4772" />
+<P1  x="465" y="891" id="5026" />
+<P2  x="751" y="1040" id="4923" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4775" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4774" />
+<P1  x="795" y="243" id="5239" />
+<P2  x="465" y="331" id="4863" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4777" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4776" />
+<P1  x="877" y="243" id="5231" />
+<P2  x="879" y="332" id="4822" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4779" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4778" />
+<P1  x="959" y="243" id="5240" />
+<P2  x="1297" y="329" id="4781" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="4820" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4780" />
+<TGConnectingPoint num="1" id="4781" />
+<TGConnectingPoint num="2" id="4782" />
+<TGConnectingPoint num="3" id="4783" />
+<TGConnectingPoint num="4" id="4784" />
+<TGConnectingPoint num="5" id="4785" />
+<TGConnectingPoint num="6" id="4786" />
+<TGConnectingPoint num="7" id="4787" />
+<TGConnectingPoint num="8" id="4788" />
+<TGConnectingPoint num="9" id="4789" />
+<TGConnectingPoint num="10" id="4790" />
+<TGConnectingPoint num="11" id="4791" />
+<TGConnectingPoint num="12" id="4792" />
+<TGConnectingPoint num="13" id="4793" />
+<TGConnectingPoint num="14" id="4794" />
+<TGConnectingPoint num="15" id="4795" />
+<TGConnectingPoint num="16" id="4796" />
+<TGConnectingPoint num="17" id="4797" />
+<TGConnectingPoint num="18" id="4798" />
+<TGConnectingPoint num="19" id="4799" />
+<TGConnectingPoint num="20" id="4800" />
+<TGConnectingPoint num="21" id="4801" />
+<TGConnectingPoint num="22" id="4802" />
+<TGConnectingPoint num="23" id="4803" />
+<TGConnectingPoint num="24" id="4804" />
+<TGConnectingPoint num="25" id="4805" />
+<TGConnectingPoint num="26" id="4806" />
+<TGConnectingPoint num="27" id="4807" />
+<TGConnectingPoint num="28" id="4808" />
+<TGConnectingPoint num="29" id="4809" />
+<TGConnectingPoint num="30" id="4810" />
+<TGConnectingPoint num="31" id="4811" />
+<TGConnectingPoint num="32" id="4812" />
+<TGConnectingPoint num="33" id="4813" />
+<TGConnectingPoint num="34" id="4814" />
+<TGConnectingPoint num="35" id="4815" />
+<TGConnectingPoint num="36" id="4816" />
+<TGConnectingPoint num="37" id="4817" />
+<TGConnectingPoint num="38" id="4818" />
+<TGConnectingPoint num="39" id="4819" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="false" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="false" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4861" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4821" />
+<TGConnectingPoint num="1" id="4822" />
+<TGConnectingPoint num="2" id="4823" />
+<TGConnectingPoint num="3" id="4824" />
+<TGConnectingPoint num="4" id="4825" />
+<TGConnectingPoint num="5" id="4826" />
+<TGConnectingPoint num="6" id="4827" />
+<TGConnectingPoint num="7" id="4828" />
+<TGConnectingPoint num="8" id="4829" />
+<TGConnectingPoint num="9" id="4830" />
+<TGConnectingPoint num="10" id="4831" />
+<TGConnectingPoint num="11" id="4832" />
+<TGConnectingPoint num="12" id="4833" />
+<TGConnectingPoint num="13" id="4834" />
+<TGConnectingPoint num="14" id="4835" />
+<TGConnectingPoint num="15" id="4836" />
+<TGConnectingPoint num="16" id="4837" />
+<TGConnectingPoint num="17" id="4838" />
+<TGConnectingPoint num="18" id="4839" />
+<TGConnectingPoint num="19" id="4840" />
+<TGConnectingPoint num="20" id="4841" />
+<TGConnectingPoint num="21" id="4842" />
+<TGConnectingPoint num="22" id="4843" />
+<TGConnectingPoint num="23" id="4844" />
+<TGConnectingPoint num="24" id="4845" />
+<TGConnectingPoint num="25" id="4846" />
+<TGConnectingPoint num="26" id="4847" />
+<TGConnectingPoint num="27" id="4848" />
+<TGConnectingPoint num="28" id="4849" />
+<TGConnectingPoint num="29" id="4850" />
+<TGConnectingPoint num="30" id="4851" />
+<TGConnectingPoint num="31" id="4852" />
+<TGConnectingPoint num="32" id="4853" />
+<TGConnectingPoint num="33" id="4854" />
+<TGConnectingPoint num="34" id="4855" />
+<TGConnectingPoint num="35" id="4856" />
+<TGConnectingPoint num="36" id="4857" />
+<TGConnectingPoint num="37" id="4858" />
+<TGConnectingPoint num="38" id="4859" />
+<TGConnectingPoint num="39" id="4860" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4902" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4862" />
+<TGConnectingPoint num="1" id="4863" />
+<TGConnectingPoint num="2" id="4864" />
+<TGConnectingPoint num="3" id="4865" />
+<TGConnectingPoint num="4" id="4866" />
+<TGConnectingPoint num="5" id="4867" />
+<TGConnectingPoint num="6" id="4868" />
+<TGConnectingPoint num="7" id="4869" />
+<TGConnectingPoint num="8" id="4870" />
+<TGConnectingPoint num="9" id="4871" />
+<TGConnectingPoint num="10" id="4872" />
+<TGConnectingPoint num="11" id="4873" />
+<TGConnectingPoint num="12" id="4874" />
+<TGConnectingPoint num="13" id="4875" />
+<TGConnectingPoint num="14" id="4876" />
+<TGConnectingPoint num="15" id="4877" />
+<TGConnectingPoint num="16" id="4878" />
+<TGConnectingPoint num="17" id="4879" />
+<TGConnectingPoint num="18" id="4880" />
+<TGConnectingPoint num="19" id="4881" />
+<TGConnectingPoint num="20" id="4882" />
+<TGConnectingPoint num="21" id="4883" />
+<TGConnectingPoint num="22" id="4884" />
+<TGConnectingPoint num="23" id="4885" />
+<TGConnectingPoint num="24" id="4886" />
+<TGConnectingPoint num="25" id="4887" />
+<TGConnectingPoint num="26" id="4888" />
+<TGConnectingPoint num="27" id="4889" />
+<TGConnectingPoint num="28" id="4890" />
+<TGConnectingPoint num="29" id="4891" />
+<TGConnectingPoint num="30" id="4892" />
+<TGConnectingPoint num="31" id="4893" />
+<TGConnectingPoint num="32" id="4894" />
+<TGConnectingPoint num="33" id="4895" />
+<TGConnectingPoint num="34" id="4896" />
+<TGConnectingPoint num="35" id="4897" />
+<TGConnectingPoint num="36" id="4898" />
+<TGConnectingPoint num="37" id="4899" />
+<TGConnectingPoint num="38" id="4900" />
+<TGConnectingPoint num="39" id="4901" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="4919" index="15" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="46" />
+<sizeparam width="221" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4903" />
+<TGConnectingPoint num="1" id="4904" />
+<TGConnectingPoint num="2" id="4905" />
+<TGConnectingPoint num="3" id="4906" />
+<TGConnectingPoint num="4" id="4907" />
+<TGConnectingPoint num="5" id="4908" />
+<TGConnectingPoint num="6" id="4909" />
+<TGConnectingPoint num="7" id="4910" />
+<TGConnectingPoint num="8" id="4911" />
+<TGConnectingPoint num="9" id="4912" />
+<TGConnectingPoint num="10" id="4913" />
+<TGConnectingPoint num="11" id="4914" />
+<TGConnectingPoint num="12" id="4915" />
+<TGConnectingPoint num="13" id="4916" />
+<TGConnectingPoint num="14" id="4917" />
+<TGConnectingPoint num="15" id="4918" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4960" index="16" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
+<cdparam x="751" y="926" />
+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4920" />
+<TGConnectingPoint num="1" id="4921" />
+<TGConnectingPoint num="2" id="4922" />
+<TGConnectingPoint num="3" id="4923" />
+<TGConnectingPoint num="4" id="4924" />
+<TGConnectingPoint num="5" id="4925" />
+<TGConnectingPoint num="6" id="4926" />
+<TGConnectingPoint num="7" id="4927" />
+<TGConnectingPoint num="8" id="4928" />
+<TGConnectingPoint num="9" id="4929" />
+<TGConnectingPoint num="10" id="4930" />
+<TGConnectingPoint num="11" id="4931" />
+<TGConnectingPoint num="12" id="4932" />
+<TGConnectingPoint num="13" id="4933" />
+<TGConnectingPoint num="14" id="4934" />
+<TGConnectingPoint num="15" id="4935" />
+<TGConnectingPoint num="16" id="4936" />
+<TGConnectingPoint num="17" id="4937" />
+<TGConnectingPoint num="18" id="4938" />
+<TGConnectingPoint num="19" id="4939" />
+<TGConnectingPoint num="20" id="4940" />
+<TGConnectingPoint num="21" id="4941" />
+<TGConnectingPoint num="22" id="4942" />
+<TGConnectingPoint num="23" id="4943" />
+<TGConnectingPoint num="24" id="4944" />
+<TGConnectingPoint num="25" id="4945" />
+<TGConnectingPoint num="26" id="4946" />
+<TGConnectingPoint num="27" id="4947" />
+<TGConnectingPoint num="28" id="4948" />
+<TGConnectingPoint num="29" id="4949" />
+<TGConnectingPoint num="30" id="4950" />
+<TGConnectingPoint num="31" id="4951" />
+<TGConnectingPoint num="32" id="4952" />
+<TGConnectingPoint num="33" id="4953" />
+<TGConnectingPoint num="34" id="4954" />
+<TGConnectingPoint num="35" id="4955" />
+<TGConnectingPoint num="36" id="4956" />
+<TGConnectingPoint num="37" id="4957" />
+<TGConnectingPoint num="38" id="4958" />
+<TGConnectingPoint num="39" id="4959" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="4969" index="17" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4961" />
+<TGConnectingPoint num="1" id="4962" />
+<TGConnectingPoint num="2" id="4963" />
+<TGConnectingPoint num="3" id="4964" />
+<TGConnectingPoint num="4" id="4965" />
+<TGConnectingPoint num="5" id="4966" />
+<TGConnectingPoint num="6" id="4967" />
+<TGConnectingPoint num="7" id="4968" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<new d="false" />
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+<CryptoLibraryFunction value="false" />
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+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
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+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
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+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
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+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5184" />
+<TGConnectingPoint num="1" id="5185" />
+<TGConnectingPoint num="2" id="5186" />
+<TGConnectingPoint num="3" id="5187" />
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+<TGConnectingPoint num="5" id="5189" />
+<TGConnectingPoint num="6" id="5190" />
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+<TGConnectingPoint num="37" id="5221" />
+<TGConnectingPoint num="38" id="5222" />
+<TGConnectingPoint num="39" id="5223" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5265" index="25" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="64" />
+<sizeparam width="328" height="179" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5225" />
+<TGConnectingPoint num="1" id="5226" />
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+<TGConnectingPoint num="3" id="5228" />
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+<TGConnectingPoint num="38" id="5263" />
+<TGConnectingPoint num="39" id="5264" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5271" />
+<P1  x="620" y="57" id="5553" />
+<P2  x="620" y="105" id="5481" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5272" num="0" />
+<cdparam x="617" y="56" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5266" />
+<TGConnectingPoint num="1" id="5267" />
+<TGConnectingPoint num="2" id="5268" />
+<TGConnectingPoint num="3" id="5269" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5278" />
+<P1  x="993" y="240" id="5404" />
+<P2  x="991" y="264" id="5392" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5279" num="0" />
+<cdparam x="981" y="251" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="5274" />
+<TGConnectingPoint num="2" id="5275" />
+<TGConnectingPoint num="3" id="5276" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5286" index="2" uid="ef932124-ccab-48dd-b58a-66d40378d2d2" >
+<cdparam x="622" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5285" />
+<P1  x="620" y="237" id="5437" />
+<P2  x="618" y="264" id="5425" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5286" num="0" />
+<cdparam x="622" y="254" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5280" />
+<TGConnectingPoint num="1" id="5281" />
+<TGConnectingPoint num="2" id="5282" />
+<TGConnectingPoint num="3" id="5283" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5292" />
+<P1  x="257" y="237" id="5459" />
+<P2  x="255" y="266" id="5469" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5287" />
+<TGConnectingPoint num="1" id="5288" />
+<TGConnectingPoint num="2" id="5289" />
+<TGConnectingPoint num="3" id="5290" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5300" index="4" uid="d7b2dec9-1f5a-41dc-bb16-6cf3dfdc64e6" >
+<cdparam x="249" y="305" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5299" />
+<P1  x="255" y="296" id="5470" />
+<P2  x="255" y="322" id="5447" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5300" num="0" />
+<cdparam x="234" y="349" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5294" />
+<TGConnectingPoint num="1" id="5295" />
+<TGConnectingPoint num="2" id="5296" />
+<TGConnectingPoint num="3" id="5297" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5307" index="5" uid="b219789d-0eff-407c-94dd-ec3d58c6e5cf" >
+<cdparam x="715" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5306" />
+<P1  x="714" y="155" id="5519" />
+<P2  x="993" y="210" id="5403" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5307" num="0" />
+<cdparam x="720" y="164" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5301" />
+<TGConnectingPoint num="1" id="5302" />
+<TGConnectingPoint num="2" id="5303" />
+<TGConnectingPoint num="3" id="5304" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5314" index="6" uid="e532685e-3909-41b7-9eb3-3994fa87286e" >
+<cdparam x="598" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5313" />
+<P1  x="620" y="155" id="5486" />
+<P2  x="620" y="207" id="5436" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5312" index="30" uid="bfaa1fd6-3784-43a2-b93f-378cd62e7560" >
+<father id="5314" num="0" />
+<cdparam x="598" y="166" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5308" />
+<TGConnectingPoint num="1" id="5309" />
+<TGConnectingPoint num="2" id="5310" />
+<TGConnectingPoint num="3" id="5311" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5324" />
+<TGConnectingPoint num="1" id="5325" />
+<TGConnectingPoint num="2" id="5326" />
+<TGConnectingPoint num="3" id="5327" />
+<TGConnectingPoint num="4" id="5328" />
+<P1  x="255" y="352" id="5448" />
+<P2  x="527" y="130" id="5483" />
+<Point x="257" y="376" />
+<Point x="36" y="376" />
+<Point x="36" y="110" />
+<Point x="507" y="110" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="5329" num="0" />
+<cdparam x="257" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5316" index="32" uid="1ac06389-bb92-41a4-a289-3a284b053ba0" >
+<father id="5329" num="1" />
+<cdparam x="36" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<infoparam name="Receive signal" value="inputMessage(messageType, messageContent)" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
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+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="toEnvironment(speed, heading)" />
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+</AVATARStateMachineDiagramPanel>
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+<delayDistributionLaw value="0" enabled="true"/>
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+<probability value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
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+<TGConnectingPoint num="1" id="7332" />
+<TGConnectingPoint num="2" id="7333" />
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+<extraparam>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
+<actions value="firstLoop = false" enabled="true"/>
+<actions value="fromPredecessor = false" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<hidden value="false" />
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+<infoparam name="connector" value="null" />
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+<TGConnectingPoint num="2" id="7355" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
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+<TGConnectingPoint num="3" id="7363" />
+<extraparam>
+<guard value="[hasFollower]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="7368" />
+<TGConnectingPoint num="2" id="7369" />
+<TGConnectingPoint num="3" id="7370" />
+<extraparam>
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+<delayDistributionLaw value="0" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<P2  x="769" y="412" id="8615" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7374" />
+<TGConnectingPoint num="1" id="7375" />
+<TGConnectingPoint num="2" id="7376" />
+<TGConnectingPoint num="3" id="7377" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="7386" />
+<P1  x="769" y="442" id="8616" />
+<P2  x="644" y="484" id="8559" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7381" />
+<TGConnectingPoint num="1" id="7382" />
+<TGConnectingPoint num="2" id="7383" />
+<TGConnectingPoint num="3" id="7384" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2  x="869" y="268" id="7791" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="7389" />
+<TGConnectingPoint num="2" id="7390" />
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2478" minY="10" maxY="1477" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="7397" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="2" id="8666" />
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2  x="407" y="190" id="8689" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8671" />
+<TGConnectingPoint num="1" id="8672" />
+<TGConnectingPoint num="2" id="8673" />
+<TGConnectingPoint num="3" id="8674" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8678" />
+<TGConnectingPoint num="1" id="8679" />
+<TGConnectingPoint num="2" id="8680" />
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+<TGConnectingPoint num="8" id="8686" />
+<TGConnectingPoint num="9" id="8687" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="8690" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8689" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8691" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8698" />
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+<P2  x="407" y="110" id="8707" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8697" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8693" />
+<TGConnectingPoint num="1" id="8694" />
+<TGConnectingPoint num="2" id="8695" />
+<TGConnectingPoint num="3" id="8696" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8705" />
+<P1  x="407" y="145" id="8708" />
+<P2  x="407" y="188" id="8718" />
+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8700" />
+<TGConnectingPoint num="1" id="8701" />
+<TGConnectingPoint num="2" id="8702" />
+<TGConnectingPoint num="3" id="8703" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="8717" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8707" />
+<TGConnectingPoint num="1" id="8708" />
+<TGConnectingPoint num="2" id="8709" />
+<TGConnectingPoint num="3" id="8710" />
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+<TGConnectingPoint num="8" id="8715" />
+<TGConnectingPoint num="9" id="8716" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="8719" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8718" />
+</COMPONENT>
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8720" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="4103" />
+<P2  x="0" y="0" id="4105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="8728" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8722" />
+<TGConnectingPoint num="1" id="8723" />
+<TGConnectingPoint num="2" id="8724" />
+<TGConnectingPoint num="3" id="8725" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8734" />
+<P1  x="0" y="0" id="4106" />
+<P2  x="0" y="0" id="4123" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8733" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="8735" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8729" />
+<TGConnectingPoint num="1" id="8730" />
+<TGConnectingPoint num="2" id="8731" />
+<TGConnectingPoint num="3" id="8732" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8741" />
+<P1  x="407" y="70" id="8763" />
+<P2  x="407" y="108" id="8750" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8736" />
+<TGConnectingPoint num="1" id="8737" />
+<TGConnectingPoint num="2" id="8738" />
+<TGConnectingPoint num="3" id="8739" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8748" />
+<P1  x="407" y="143" id="8751" />
+<P2  x="407" y="188" id="8761" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8743" />
+<TGConnectingPoint num="1" id="8744" />
+<TGConnectingPoint num="2" id="8745" />
+<TGConnectingPoint num="3" id="8746" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8750" />
+<TGConnectingPoint num="1" id="8751" />
+<TGConnectingPoint num="2" id="8752" />
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+<TGConnectingPoint num="8" id="8758" />
+<TGConnectingPoint num="9" id="8759" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8761" />
+</COMPONENT>
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+
+</AVATARStateMachineDiagramPanel>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
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+<infoparam name="stop state" value="null" />
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
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+<TGConnectingPoint num="2" id="9030" />
+<TGConnectingPoint num="3" id="9031" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9041" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9035" />
+<TGConnectingPoint num="1" id="9036" />
+<TGConnectingPoint num="2" id="9037" />
+<TGConnectingPoint num="3" id="9038" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9048" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9042" />
+<TGConnectingPoint num="1" id="9043" />
+<TGConnectingPoint num="2" id="9044" />
+<TGConnectingPoint num="3" id="9045" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9054" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="9055" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9049" />
+<TGConnectingPoint num="1" id="9050" />
+<TGConnectingPoint num="2" id="9051" />
+<TGConnectingPoint num="3" id="9052" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9062" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9061" />
+<P1  x="407" y="70" id="9083" />
+<P2  x="407" y="125" id="9070" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="9062" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9056" />
+<TGConnectingPoint num="1" id="9057" />
+<TGConnectingPoint num="2" id="9058" />
+<TGConnectingPoint num="3" id="9059" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9069" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9068" />
+<P1  x="407" y="160" id="9071" />
+<P2  x="407" y="224" id="9081" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9067" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="9069" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9063" />
+<TGConnectingPoint num="1" id="9064" />
+<TGConnectingPoint num="2" id="9065" />
+<TGConnectingPoint num="3" id="9066" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="9080" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9070" />
+<TGConnectingPoint num="1" id="9071" />
+<TGConnectingPoint num="2" id="9072" />
+<TGConnectingPoint num="3" id="9073" />
+<TGConnectingPoint num="4" id="9074" />
+<TGConnectingPoint num="5" id="9075" />
+<TGConnectingPoint num="6" id="9076" />
+<TGConnectingPoint num="7" id="9077" />
+<TGConnectingPoint num="8" id="9078" />
+<TGConnectingPoint num="9" id="9079" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9081" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9083" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="9091" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9090" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9089" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="9091" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9085" />
+<TGConnectingPoint num="1" id="9086" />
+<TGConnectingPoint num="2" id="9087" />
+<TGConnectingPoint num="3" id="9088" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9098" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9097" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9096" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="9098" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9092" />
+<TGConnectingPoint num="1" id="9093" />
+<TGConnectingPoint num="2" id="9094" />
+<TGConnectingPoint num="3" id="9095" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9104" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="9105" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9099" />
+<TGConnectingPoint num="1" id="9100" />
+<TGConnectingPoint num="2" id="9101" />
+<TGConnectingPoint num="3" id="9102" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9112" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9111" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="9112" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9106" />
+<TGConnectingPoint num="1" id="9107" />
+<TGConnectingPoint num="2" id="9108" />
+<TGConnectingPoint num="3" id="9109" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9118" />
+<P1  x="407" y="70" id="9140" />
+<P2  x="407" y="126" id="9127" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9117" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="9119" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9113" />
+<TGConnectingPoint num="1" id="9114" />
+<TGConnectingPoint num="2" id="9115" />
+<TGConnectingPoint num="3" id="9116" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9125" />
+<P1  x="407" y="161" id="9128" />
+<P2  x="407" y="224" id="9138" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9124" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="9126" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9120" />
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+<TGConnectingPoint num="2" id="9122" />
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+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9127" />
+<TGConnectingPoint num="1" id="9128" />
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
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+
+
+</AVATARStateMachineDiagramPanel>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<extraparam>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<AutomaticDrawing  data="true" />
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+<TGConnectingPoint num="1" id="9165" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9171" />
+<TGConnectingPoint num="1" id="9172" />
+<TGConnectingPoint num="2" id="9173" />
+<TGConnectingPoint num="3" id="9174" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="9188" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="9179" />
+<TGConnectingPoint num="2" id="9180" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
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+<extraparam>
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+</COMPONENT>
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9273" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<Point x="181" y="315" />
+<Point x="181" y="90" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9430" />
+<TGConnectingPoint num="1" id="9431" />
+<TGConnectingPoint num="2" id="9432" />
+<TGConnectingPoint num="3" id="9433" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9443" index="3" uid="6ed600ff-b5d0-4bd6-a725-280fa95e1a62" >
+<cdparam x="407" y="223" />
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9442" />
+<P1  x="407" y="223" id="9456" />
+<P2  x="407" y="265" id="9444" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9441" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="9443" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9437" />
+<TGConnectingPoint num="1" id="9438" />
+<TGConnectingPoint num="2" id="9439" />
+<TGConnectingPoint num="3" id="9440" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="9454" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9444" />
+<TGConnectingPoint num="1" id="9445" />
+<TGConnectingPoint num="2" id="9446" />
+<TGConnectingPoint num="3" id="9447" />
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+<TGConnectingPoint num="5" id="9449" />
+<TGConnectingPoint num="6" id="9450" />
+<TGConnectingPoint num="7" id="9451" />
+<TGConnectingPoint num="8" id="9452" />
+<TGConnectingPoint num="9" id="9453" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="9465" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9455" />
+<TGConnectingPoint num="1" id="9456" />
+<TGConnectingPoint num="2" id="9457" />
+<TGConnectingPoint num="3" id="9458" />
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+<TGConnectingPoint num="5" id="9460" />
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+<TGConnectingPoint num="7" id="9462" />
+<TGConnectingPoint num="8" id="9463" />
+<TGConnectingPoint num="9" id="9464" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="9538" index="6" uid="42d36278-3570-422a-b91a-3ee94dc0769a" >
+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9466" />
+<TGConnectingPoint num="1" id="9467" />
+<TGConnectingPoint num="2" id="9468" />
+<TGConnectingPoint num="3" id="9469" />
+<TGConnectingPoint num="4" id="9470" />
+<TGConnectingPoint num="5" id="9471" />
+<TGConnectingPoint num="6" id="9472" />
+<TGConnectingPoint num="7" id="9473" />
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+<TGConnectingPoint num="9" id="9475" />
+<TGConnectingPoint num="10" id="9476" />
+<TGConnectingPoint num="11" id="9477" />
+<TGConnectingPoint num="12" id="9478" />
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+<TGConnectingPoint num="14" id="9480" />
+<TGConnectingPoint num="15" id="9481" />
+<TGConnectingPoint num="16" id="9482" />
+<TGConnectingPoint num="17" id="9483" />
+<TGConnectingPoint num="18" id="9484" />
+<TGConnectingPoint num="19" id="9485" />
+<TGConnectingPoint num="20" id="9486" />
+<TGConnectingPoint num="21" id="9487" />
+<TGConnectingPoint num="22" id="9488" />
+<TGConnectingPoint num="23" id="9489" />
+<TGConnectingPoint num="24" id="9490" />
+<TGConnectingPoint num="25" id="9491" />
+<TGConnectingPoint num="26" id="9492" />
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+<TGConnectingPoint num="29" id="9495" />
+<TGConnectingPoint num="30" id="9496" />
+<TGConnectingPoint num="31" id="9497" />
+<TGConnectingPoint num="32" id="9498" />
+<TGConnectingPoint num="33" id="9499" />
+<TGConnectingPoint num="34" id="9500" />
+<TGConnectingPoint num="35" id="9501" />
+<TGConnectingPoint num="36" id="9502" />
+<TGConnectingPoint num="37" id="9503" />
+<TGConnectingPoint num="38" id="9504" />
+<TGConnectingPoint num="39" id="9505" />
+<TGConnectingPoint num="40" id="9506" />
+<TGConnectingPoint num="41" id="9507" />
+<TGConnectingPoint num="42" id="9508" />
+<TGConnectingPoint num="43" id="9509" />
+<TGConnectingPoint num="44" id="9510" />
+<TGConnectingPoint num="45" id="9511" />
+<TGConnectingPoint num="46" id="9512" />
+<TGConnectingPoint num="47" id="9513" />
+<TGConnectingPoint num="48" id="9514" />
+<TGConnectingPoint num="49" id="9515" />
+<TGConnectingPoint num="50" id="9516" />
+<TGConnectingPoint num="51" id="9517" />
+<TGConnectingPoint num="52" id="9518" />
+<TGConnectingPoint num="53" id="9519" />
+<TGConnectingPoint num="54" id="9520" />
+<TGConnectingPoint num="55" id="9521" />
+<TGConnectingPoint num="56" id="9522" />
+<TGConnectingPoint num="57" id="9523" />
+<TGConnectingPoint num="58" id="9524" />
+<TGConnectingPoint num="59" id="9525" />
+<TGConnectingPoint num="60" id="9526" />
+<TGConnectingPoint num="61" id="9527" />
+<TGConnectingPoint num="62" id="9528" />
+<TGConnectingPoint num="63" id="9529" />
+<TGConnectingPoint num="64" id="9530" />
+<TGConnectingPoint num="65" id="9531" />
+<TGConnectingPoint num="66" id="9532" />
+<TGConnectingPoint num="67" id="9533" />
+<TGConnectingPoint num="68" id="9534" />
+<TGConnectingPoint num="69" id="9535" />
+<TGConnectingPoint num="70" id="9536" />
+<TGConnectingPoint num="71" id="9537" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="9540" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9539" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="Nominal_Attack1" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="9542" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9541" />
+<P1  x="1003" y="771" id="9867" />
+<P2  x="1030" y="772" id="9989" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9544" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9543" />
+<P1  x="465" y="591" id="9653" />
+<P2  x="466" y="653" id="9823" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9546" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="879" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9545" />
+<P1  x="879" y="589" id="9612" />
+<P2  x="878" y="653" id="9864" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9548" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9547" />
+<P1  x="1297" y="589" id="9571" />
+<P2  x="1298" y="653" id="9782" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9550" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9549" />
+<P1  x="878" y="890" id="9869" />
+<P2  x="877" y="926" id="9723" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9552" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9551" />
+<P1  x="1298" y="891" id="9787" />
+<P2  x="1002" y="1040" id="9726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9554" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9553" />
+<P1  x="1423" y="772" id="9785" />
+<P2  x="1448" y="773" id="9907" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9556" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9555" />
+<P1  x="591" y="772" id="9826" />
+<P2  x="619" y="773" id="9948" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9558" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="894" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9557" />
+<P1  x="466" y="891" id="9828" />
+<P2  x="752" y="1040" id="9725" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9560" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9559" />
+<P1  x="796" y="244" id="10041" />
+<P2  x="465" y="331" id="9648" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9562" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9561" />
+<P1  x="878" y="244" id="10033" />
+<P2  x="879" y="332" id="9607" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9564" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9563" />
+<P1  x="960" y="244" id="10042" />
+<P2  x="1297" y="329" id="9566" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="9605" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
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+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9565" />
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+<TGConnectingPoint num="37" id="9602" />
+<TGConnectingPoint num="38" id="9603" />
+<TGConnectingPoint num="39" id="9604" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9646" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9606" />
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+<TGConnectingPoint num="38" id="9644" />
+<TGConnectingPoint num="39" id="9645" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9687" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9647" />
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+<TGConnectingPoint num="38" id="9685" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
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+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
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+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="9704" index="15" uid="52c9e34d-063c-49e5-8dd9-44bced548377" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="+-------------------------+
+! Attack scenario !
++-------------------------+
+
+Injection of false speed values
+Sparta Attack 1 (II-B), see deliverable D5.2
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9688" />
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+<TGConnectingPoint num="14" id="9702" />
+<TGConnectingPoint num="15" id="9703" />
+<extraparam>
+<Line value="+-------------------------+" />
+<Line value="! Attack scenario !" />
+<Line value="+-------------------------+" />
+<Line value="" />
+<Line value="Injection of false speed values" />
+<Line value="Sparta Attack 1 (II-B), see deliverable D5.2" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9705" />
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+<TGConnectingPoint num="14" id="9719" />
+<TGConnectingPoint num="15" id="9720" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9762" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9722" />
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+<TGConnectingPoint num="37" id="9759" />
+<TGConnectingPoint num="38" id="9760" />
+<TGConnectingPoint num="39" id="9761" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="9771" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="650" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9763" />
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+<TGConnectingPoint num="5" id="9768" />
+<TGConnectingPoint num="6" id="9769" />
+<TGConnectingPoint num="7" id="9770" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9772" />
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+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="lateralError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="motorsCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="sensorUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="networkUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
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+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<TGConnectingPoint num="21" id="10007" />
+<TGConnectingPoint num="22" id="10008" />
+<TGConnectingPoint num="23" id="10009" />
+<TGConnectingPoint num="24" id="10010" />
+<TGConnectingPoint num="25" id="10011" />
+<TGConnectingPoint num="26" id="10012" />
+<TGConnectingPoint num="27" id="10013" />
+<TGConnectingPoint num="28" id="10014" />
+<TGConnectingPoint num="29" id="10015" />
+<TGConnectingPoint num="30" id="10016" />
+<TGConnectingPoint num="31" id="10017" />
+<TGConnectingPoint num="32" id="10018" />
+<TGConnectingPoint num="33" id="10019" />
+<TGConnectingPoint num="34" id="10020" />
+<TGConnectingPoint num="35" id="10021" />
+<TGConnectingPoint num="36" id="10022" />
+<TGConnectingPoint num="37" id="10023" />
+<TGConnectingPoint num="38" id="10024" />
+<TGConnectingPoint num="39" id="10025" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="10067" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="714" y="58" />
+<sizeparam width="328" height="186" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10027" />
+<TGConnectingPoint num="1" id="10028" />
+<TGConnectingPoint num="2" id="10029" />
+<TGConnectingPoint num="3" id="10030" />
+<TGConnectingPoint num="4" id="10031" />
+<TGConnectingPoint num="5" id="10032" />
+<TGConnectingPoint num="6" id="10033" />
+<TGConnectingPoint num="7" id="10034" />
+<TGConnectingPoint num="8" id="10035" />
+<TGConnectingPoint num="9" id="10036" />
+<TGConnectingPoint num="10" id="10037" />
+<TGConnectingPoint num="11" id="10038" />
+<TGConnectingPoint num="12" id="10039" />
+<TGConnectingPoint num="13" id="10040" />
+<TGConnectingPoint num="14" id="10041" />
+<TGConnectingPoint num="15" id="10042" />
+<TGConnectingPoint num="16" id="10043" />
+<TGConnectingPoint num="17" id="10044" />
+<TGConnectingPoint num="18" id="10045" />
+<TGConnectingPoint num="19" id="10046" />
+<TGConnectingPoint num="20" id="10047" />
+<TGConnectingPoint num="21" id="10048" />
+<TGConnectingPoint num="22" id="10049" />
+<TGConnectingPoint num="23" id="10050" />
+<TGConnectingPoint num="24" id="10051" />
+<TGConnectingPoint num="25" id="10052" />
+<TGConnectingPoint num="26" id="10053" />
+<TGConnectingPoint num="27" id="10054" />
+<TGConnectingPoint num="28" id="10055" />
+<TGConnectingPoint num="29" id="10056" />
+<TGConnectingPoint num="30" id="10057" />
+<TGConnectingPoint num="31" id="10058" />
+<TGConnectingPoint num="32" id="10059" />
+<TGConnectingPoint num="33" id="10060" />
+<TGConnectingPoint num="34" id="10061" />
+<TGConnectingPoint num="35" id="10062" />
+<TGConnectingPoint num="36" id="10063" />
+<TGConnectingPoint num="37" id="10064" />
+<TGConnectingPoint num="38" id="10065" />
+<TGConnectingPoint num="39" id="10066" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leaderID" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="10074" index="0" uid="5ab4c8bb-29c9-4213-9d2e-ca5a8cf288c0" >
+<cdparam x="912" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10073" />
+<P1  x="911" y="565" id="10232" />
+<P2  x="911" y="596" id="10220" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10072" index="31" uid="66a79568-1df5-4df2-a712-7de90660cf4c" >
+<father id="10074" num="0" />
+<cdparam x="903" y="573" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10068" />
+<TGConnectingPoint num="1" id="10069" />
+<TGConnectingPoint num="2" id="10070" />
+<TGConnectingPoint num="3" id="10071" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10081" index="1" uid="561513ac-2ac8-4743-a8fd-71f0a5c83ced" >
+<cdparam x="914" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10080" />
+<P1  x="913" y="478" id="10455" />
+<P2  x="911" y="535" id="10231" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10079" index="32" uid="521f7867-2232-4783-94ae-119ea0cdc12a" >
+<father id="10081" num="0" />
+<cdparam x="920" y="507" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10075" />
+<TGConnectingPoint num="1" id="10076" />
+<TGConnectingPoint num="2" id="10077" />
+<TGConnectingPoint num="3" id="10078" />
+<extraparam>
+<guard value="[leaderID == 3]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10088" index="2" uid="bb642482-0fc1-4562-b5b1-e12fd7131b0b" >
+<cdparam x="554" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10087" />
+<P1  x="555" y="565" id="10254" />
+<P2  x="555" y="596" id="10242" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10086" index="33" uid="fb3f5d10-e93b-4452-bce0-6fb59584f4d6" >
+<father id="10088" num="0" />
+<cdparam x="542" y="576" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10082" />
+<TGConnectingPoint num="1" id="10083" />
+<TGConnectingPoint num="2" id="10084" />
+<TGConnectingPoint num="3" id="10085" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10095" index="3" uid="38f1529f-a3c3-4adb-ae3e-0f98a1ad8a68" >
+<cdparam x="556" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10094" />
+<P1  x="557" y="478" id="10430" />
+<P2  x="555" y="535" id="10253" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10093" index="34" uid="da06b493-7218-4ef9-9247-809790e9ed8f" >
+<father id="10095" num="0" />
+<cdparam x="564" y="510" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10089" />
+<TGConnectingPoint num="1" id="10090" />
+<TGConnectingPoint num="2" id="10091" />
+<TGConnectingPoint num="3" id="10092" />
+<extraparam>
+<guard value="[leaderID == 2]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10102" index="4" uid="41e502b8-868a-401d-9b9c-996ce9699113" >
+<cdparam x="187" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10101" />
+<P1  x="188" y="565" id="10276" />
+<P2  x="188" y="596" id="10264" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10100" index="35" uid="d87f4106-9073-40d4-b477-5a455461767d" >
+<father id="10102" num="0" />
+<cdparam x="190" y="579" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10096" />
+<TGConnectingPoint num="1" id="10097" />
+<TGConnectingPoint num="2" id="10098" />
+<TGConnectingPoint num="3" id="10099" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10109" index="5" uid="7498f7f4-b7f1-44bd-8c21-9d506d15c170" >
+<cdparam x="189" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10108" />
+<P1  x="190" y="478" id="10452" />
+<P2  x="188" y="535" id="10275" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10107" index="36" uid="eacb2abf-8abf-4802-a858-cc3a41d9627f" >
+<father id="10109" num="0" />
+<cdparam x="196" y="507" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10103" />
+<TGConnectingPoint num="1" id="10104" />
+<TGConnectingPoint num="2" id="10105" />
+<TGConnectingPoint num="3" id="10106" />
+<extraparam>
+<guard value="[leaderID == 1]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10116" index="6" uid="8bd522e8-f116-4725-8b39-ad7dec793235" >
+<cdparam x="787" y="179" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10115" />
+<P1  x="884" y="173" id="10287" />
+<P2  x="913" y="234" id="10338" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10114" index="37" uid="2598d05c-7903-40d5-b2b0-f3374ec7c5bb" >
+<father id="10116" num="0" />
+<cdparam x="901" y="196" />
+<sizeparam width="80" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10110" />
+<TGConnectingPoint num="1" id="10111" />
+<TGConnectingPoint num="2" id="10112" />
+<TGConnectingPoint num="3" id="10113" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="leaderID = 3" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10123" index="7" uid="3d919a60-b64f-440f-b7cc-7961a42ba2a2" >
+<cdparam x="570" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10122" />
+<P1  x="558" y="173" id="10298" />
+<P2  x="557" y="234" id="10352" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10121" index="38" uid="02955bce-4479-48bb-97d1-42f4dc07d94f" >
+<father id="10123" num="0" />
+<cdparam x="562" y="198" />
+<sizeparam width="80" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10117" />
+<TGConnectingPoint num="1" id="10118" />
+<TGConnectingPoint num="2" id="10119" />
+<TGConnectingPoint num="3" id="10120" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="leaderID = 2" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10130" index="8" uid="9623205b-6522-4f66-8ba6-83bb0aa186df" >
+<cdparam x="571" y="90" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10129" />
+<P1  x="557" y="90" id="10471" />
+<P2  x="558" y="143" id="10297" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10128" index="39" uid="e294bd70-d9e7-46a5-a827-400c532eef46" >
+<father id="10130" num="0" />
+<cdparam x="570" y="114" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10124" />
+<TGConnectingPoint num="1" id="10125" />
+<TGConnectingPoint num="2" id="10126" />
+<TGConnectingPoint num="3" id="10127" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10137" index="9" uid="097f12ba-0986-4c01-99ba-c6a832fe9c61" >
+<cdparam x="440" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10136" />
+<P1  x="228" y="173" id="10309" />
+<P2  x="190" y="234" id="10335" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10135" index="40" uid="a726be56-a022-47be-b83d-5e662d7b383a" >
+<father id="10137" num="0" />
+<cdparam x="217" y="204" />
+<sizeparam width="80" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+</extraparam>
+</COMPONENT>
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<new d="false" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="FExecutingCommands" />
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+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
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+<hidden value="false" />
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+</COMPONENT>
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+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
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+<extraparam>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="13624" />
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+<TGConnectingPoint num="2" id="13626" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13631" />
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+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
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+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<P2  x="407" y="188" id="13671" />
+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<TGConnectingPoint num="2" id="13655" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13671" />
+</COMPONENT>
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+<new d="false" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<TGConnectingPoint num="2" id="13684" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="0" id="13689" />
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+<TGConnectingPoint num="2" id="13691" />
+<TGConnectingPoint num="3" id="13692" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
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+<computeMin value="" enabled="true"/>
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+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<extraparam>
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+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="13704" />
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+<TGConnectingPoint num="8" id="13711" />
+<TGConnectingPoint num="9" id="13712" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13714" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13716" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="2" id="13724" />
+<TGConnectingPoint num="3" id="13725" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="13738" />
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+<TGConnectingPoint num="3" id="13740" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="13750" />
+<TGConnectingPoint num="3" id="13751" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
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+<computeMin value="" enabled="true"/>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13938" />
+<TGConnectingPoint num="1" id="13939" />
+<TGConnectingPoint num="2" id="13940" />
+<TGConnectingPoint num="3" id="13941" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="13951" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13950" />
+<P1  x="0" y="0" id="3643" />
+<P2  x="0" y="0" id="3640" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13949" index="8" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="13951" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13945" />
+<TGConnectingPoint num="1" id="13946" />
+<TGConnectingPoint num="2" id="13947" />
+<TGConnectingPoint num="3" id="13948" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="13958" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13957" />
+<P1  x="407" y="70" id="13979" />
+<P2  x="407" y="127" id="13966" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13956" index="9" uid="9eb8d556-e1de-4833-9070-dcb456cb41f0" >
+<father id="13958" num="0" />
+<cdparam x="426" y="103" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13952" />
+<TGConnectingPoint num="1" id="13953" />
+<TGConnectingPoint num="2" id="13954" />
+<TGConnectingPoint num="3" id="13955" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="13965" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
+<cdparam x="446" y="171" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13964" />
+<P1  x="407" y="162" id="13967" />
+<P2  x="407" y="224" id="13977" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13963" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="13965" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13959" />
+<TGConnectingPoint num="1" id="13960" />
+<TGConnectingPoint num="2" id="13961" />
+<TGConnectingPoint num="3" id="13962" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="13976" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13966" />
+<TGConnectingPoint num="1" id="13967" />
+<TGConnectingPoint num="2" id="13968" />
+<TGConnectingPoint num="3" id="13969" />
+<TGConnectingPoint num="4" id="13970" />
+<TGConnectingPoint num="5" id="13971" />
+<TGConnectingPoint num="6" id="13972" />
+<TGConnectingPoint num="7" id="13973" />
+<TGConnectingPoint num="8" id="13974" />
+<TGConnectingPoint num="9" id="13975" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="13978" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13977" />
+</COMPONENT>
+
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13979" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="13987" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13986" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13985" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="13987" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13981" />
+<TGConnectingPoint num="1" id="13982" />
+<TGConnectingPoint num="2" id="13983" />
+<TGConnectingPoint num="3" id="13984" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="13994" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13993" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13992" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="13994" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13988" />
+<TGConnectingPoint num="1" id="13989" />
+<TGConnectingPoint num="2" id="13990" />
+<TGConnectingPoint num="3" id="13991" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14001" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14000" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13999" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="14001" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13995" />
+<TGConnectingPoint num="1" id="13996" />
+<TGConnectingPoint num="2" id="13997" />
+<TGConnectingPoint num="3" id="13998" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14008" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14007" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14006" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="14008" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14002" />
+<TGConnectingPoint num="1" id="14003" />
+<TGConnectingPoint num="2" id="14004" />
+<TGConnectingPoint num="3" id="14005" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14015" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14014" />
+<P1  x="407" y="70" id="14036" />
+<P2  x="407" y="125" id="14023" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14013" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="14015" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14009" />
+<TGConnectingPoint num="1" id="14010" />
+<TGConnectingPoint num="2" id="14011" />
+<TGConnectingPoint num="3" id="14012" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14022" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14021" />
+<P1  x="407" y="160" id="14024" />
+<P2  x="407" y="224" id="14034" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14020" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="14022" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14016" />
+<TGConnectingPoint num="1" id="14017" />
+<TGConnectingPoint num="2" id="14018" />
+<TGConnectingPoint num="3" id="14019" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="14033" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14023" />
+<TGConnectingPoint num="1" id="14024" />
+<TGConnectingPoint num="2" id="14025" />
+<TGConnectingPoint num="3" id="14026" />
+<TGConnectingPoint num="4" id="14027" />
+<TGConnectingPoint num="5" id="14028" />
+<TGConnectingPoint num="6" id="14029" />
+<TGConnectingPoint num="7" id="14030" />
+<TGConnectingPoint num="8" id="14031" />
+<TGConnectingPoint num="9" id="14032" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="14035" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14034" />
+</COMPONENT>
+
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14036" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="14044" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14043" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14042" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="14044" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14038" />
+<TGConnectingPoint num="1" id="14039" />
+<TGConnectingPoint num="2" id="14040" />
+<TGConnectingPoint num="3" id="14041" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14051" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14050" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="14051" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14045" />
+<TGConnectingPoint num="1" id="14046" />
+<TGConnectingPoint num="2" id="14047" />
+<TGConnectingPoint num="3" id="14048" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14058" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14057" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="14058" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14052" />
+<TGConnectingPoint num="1" id="14053" />
+<TGConnectingPoint num="2" id="14054" />
+<TGConnectingPoint num="3" id="14055" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14065" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14064" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14063" index="12" uid="64ac3868-1d9f-489e-becb-836c0180fcb5" >
+<father id="14065" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14059" />
+<TGConnectingPoint num="1" id="14060" />
+<TGConnectingPoint num="2" id="14061" />
+<TGConnectingPoint num="3" id="14062" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14072" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14071" />
+<P1  x="407" y="70" id="14093" />
+<P2  x="407" y="126" id="14080" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14070" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="14072" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14066" />
+<TGConnectingPoint num="1" id="14067" />
+<TGConnectingPoint num="2" id="14068" />
+<TGConnectingPoint num="3" id="14069" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14079" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14078" />
+<P1  x="407" y="161" id="14081" />
+<P2  x="407" y="224" id="14091" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14077" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="14079" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14073" />
+<TGConnectingPoint num="1" id="14074" />
+<TGConnectingPoint num="2" id="14075" />
+<TGConnectingPoint num="3" id="14076" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="14090" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14080" />
+<TGConnectingPoint num="1" id="14081" />
+<TGConnectingPoint num="2" id="14082" />
+<TGConnectingPoint num="3" id="14083" />
+<TGConnectingPoint num="4" id="14084" />
+<TGConnectingPoint num="5" id="14085" />
+<TGConnectingPoint num="6" id="14086" />
+<TGConnectingPoint num="7" id="14087" />
+<TGConnectingPoint num="8" id="14088" />
+<TGConnectingPoint num="9" id="14089" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="14092" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14091" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14093" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="14109" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14104" />
+<TGConnectingPoint num="1" id="14105" />
+<TGConnectingPoint num="2" id="14106" />
+<TGConnectingPoint num="3" id="14107" />
+<TGConnectingPoint num="4" id="14108" />
+<P1  x="407" y="295" id="14132" />
+<P2  x="357" y="110" id="14153" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14095" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="14109" num="0" />
+<cdparam x="407" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="14096" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="14109" num="1" />
+<cdparam x="181" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="14097" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="14109" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="14098" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
+<father id="14109" num="3" />
+<cdparam x="337" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="14103" index="12" uid="801dd9e9-d72c-4d3b-9eac-6ef62879a3f8" >
+<father id="14109" num="4" />
+<cdparam x="382" y="202" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14099" />
+<TGConnectingPoint num="1" id="14100" />
+<TGConnectingPoint num="2" id="14101" />
+<TGConnectingPoint num="3" id="14102" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14116" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14115" />
+<P1  x="407" y="70" id="14226" />
+<P2  x="407" y="110" id="14154" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14114" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="14116" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14110" />
+<TGConnectingPoint num="1" id="14111" />
+<TGConnectingPoint num="2" id="14112" />
+<TGConnectingPoint num="3" id="14113" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14123" index="2" uid="ba7ba4a7-d1d0-4862-ac85-1da2fc29b06c" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14122" />
+<P1  x="407" y="160" id="14191" />
+<P2  x="407" y="193" id="14142" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<cdparam x="408" y="172" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14117" />
+<TGConnectingPoint num="1" id="14118" />
+<TGConnectingPoint num="2" id="14119" />
+<TGConnectingPoint num="3" id="14120" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
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+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<probability value="" enabled="true"/>
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+<hidden value="false" />
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+<extraparam>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
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+<infoparam name="state0" value="loop" />
+<new d="false" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="14493" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14492" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="Nominal_Attack1_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="14495" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14494" />
+<P1  x="1003" y="771" id="14820" />
+<P2  x="1030" y="772" id="14942" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14496" />
+<P1  x="465" y="591" id="14606" />
+<P2  x="466" y="653" id="14776" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14499" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="879" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14498" />
+<P1  x="879" y="589" id="14565" />
+<P2  x="878" y="653" id="14817" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14501" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14500" />
+<P1  x="1297" y="589" id="14524" />
+<P2  x="1298" y="653" id="14735" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14503" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14502" />
+<P1  x="878" y="890" id="14822" />
+<P2  x="877" y="926" id="14676" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14505" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14504" />
+<P1  x="1298" y="891" id="14740" />
+<P2  x="1002" y="1040" id="14679" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14507" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14506" />
+<P1  x="1423" y="772" id="14738" />
+<P2  x="1448" y="773" id="14860" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14509" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14508" />
+<P1  x="591" y="772" id="14779" />
+<P2  x="619" y="773" id="14901" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14511" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="894" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14510" />
+<P1  x="466" y="891" id="14781" />
+<P2  x="752" y="1040" id="14678" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14513" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14512" />
+<P1  x="796" y="244" id="14994" />
+<P2  x="465" y="331" id="14601" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14515" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14514" />
+<P1  x="878" y="244" id="14986" />
+<P2  x="879" y="332" id="14560" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14517" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14516" />
+<P1  x="960" y="244" id="14995" />
+<P2  x="1297" y="329" id="14519" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="14558" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14518" />
+<TGConnectingPoint num="1" id="14519" />
+<TGConnectingPoint num="2" id="14520" />
+<TGConnectingPoint num="3" id="14521" />
+<TGConnectingPoint num="4" id="14522" />
+<TGConnectingPoint num="5" id="14523" />
+<TGConnectingPoint num="6" id="14524" />
+<TGConnectingPoint num="7" id="14525" />
+<TGConnectingPoint num="8" id="14526" />
+<TGConnectingPoint num="9" id="14527" />
+<TGConnectingPoint num="10" id="14528" />
+<TGConnectingPoint num="11" id="14529" />
+<TGConnectingPoint num="12" id="14530" />
+<TGConnectingPoint num="13" id="14531" />
+<TGConnectingPoint num="14" id="14532" />
+<TGConnectingPoint num="15" id="14533" />
+<TGConnectingPoint num="16" id="14534" />
+<TGConnectingPoint num="17" id="14535" />
+<TGConnectingPoint num="18" id="14536" />
+<TGConnectingPoint num="19" id="14537" />
+<TGConnectingPoint num="20" id="14538" />
+<TGConnectingPoint num="21" id="14539" />
+<TGConnectingPoint num="22" id="14540" />
+<TGConnectingPoint num="23" id="14541" />
+<TGConnectingPoint num="24" id="14542" />
+<TGConnectingPoint num="25" id="14543" />
+<TGConnectingPoint num="26" id="14544" />
+<TGConnectingPoint num="27" id="14545" />
+<TGConnectingPoint num="28" id="14546" />
+<TGConnectingPoint num="29" id="14547" />
+<TGConnectingPoint num="30" id="14548" />
+<TGConnectingPoint num="31" id="14549" />
+<TGConnectingPoint num="32" id="14550" />
+<TGConnectingPoint num="33" id="14551" />
+<TGConnectingPoint num="34" id="14552" />
+<TGConnectingPoint num="35" id="14553" />
+<TGConnectingPoint num="36" id="14554" />
+<TGConnectingPoint num="37" id="14555" />
+<TGConnectingPoint num="38" id="14556" />
+<TGConnectingPoint num="39" id="14557" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14599" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14559" />
+<TGConnectingPoint num="1" id="14560" />
+<TGConnectingPoint num="2" id="14561" />
+<TGConnectingPoint num="3" id="14562" />
+<TGConnectingPoint num="4" id="14563" />
+<TGConnectingPoint num="5" id="14564" />
+<TGConnectingPoint num="6" id="14565" />
+<TGConnectingPoint num="7" id="14566" />
+<TGConnectingPoint num="8" id="14567" />
+<TGConnectingPoint num="9" id="14568" />
+<TGConnectingPoint num="10" id="14569" />
+<TGConnectingPoint num="11" id="14570" />
+<TGConnectingPoint num="12" id="14571" />
+<TGConnectingPoint num="13" id="14572" />
+<TGConnectingPoint num="14" id="14573" />
+<TGConnectingPoint num="15" id="14574" />
+<TGConnectingPoint num="16" id="14575" />
+<TGConnectingPoint num="17" id="14576" />
+<TGConnectingPoint num="18" id="14577" />
+<TGConnectingPoint num="19" id="14578" />
+<TGConnectingPoint num="20" id="14579" />
+<TGConnectingPoint num="21" id="14580" />
+<TGConnectingPoint num="22" id="14581" />
+<TGConnectingPoint num="23" id="14582" />
+<TGConnectingPoint num="24" id="14583" />
+<TGConnectingPoint num="25" id="14584" />
+<TGConnectingPoint num="26" id="14585" />
+<TGConnectingPoint num="27" id="14586" />
+<TGConnectingPoint num="28" id="14587" />
+<TGConnectingPoint num="29" id="14588" />
+<TGConnectingPoint num="30" id="14589" />
+<TGConnectingPoint num="31" id="14590" />
+<TGConnectingPoint num="32" id="14591" />
+<TGConnectingPoint num="33" id="14592" />
+<TGConnectingPoint num="34" id="14593" />
+<TGConnectingPoint num="35" id="14594" />
+<TGConnectingPoint num="36" id="14595" />
+<TGConnectingPoint num="37" id="14596" />
+<TGConnectingPoint num="38" id="14597" />
+<TGConnectingPoint num="39" id="14598" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14640" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14600" />
+<TGConnectingPoint num="1" id="14601" />
+<TGConnectingPoint num="2" id="14602" />
+<TGConnectingPoint num="3" id="14603" />
+<TGConnectingPoint num="4" id="14604" />
+<TGConnectingPoint num="5" id="14605" />
+<TGConnectingPoint num="6" id="14606" />
+<TGConnectingPoint num="7" id="14607" />
+<TGConnectingPoint num="8" id="14608" />
+<TGConnectingPoint num="9" id="14609" />
+<TGConnectingPoint num="10" id="14610" />
+<TGConnectingPoint num="11" id="14611" />
+<TGConnectingPoint num="12" id="14612" />
+<TGConnectingPoint num="13" id="14613" />
+<TGConnectingPoint num="14" id="14614" />
+<TGConnectingPoint num="15" id="14615" />
+<TGConnectingPoint num="16" id="14616" />
+<TGConnectingPoint num="17" id="14617" />
+<TGConnectingPoint num="18" id="14618" />
+<TGConnectingPoint num="19" id="14619" />
+<TGConnectingPoint num="20" id="14620" />
+<TGConnectingPoint num="21" id="14621" />
+<TGConnectingPoint num="22" id="14622" />
+<TGConnectingPoint num="23" id="14623" />
+<TGConnectingPoint num="24" id="14624" />
+<TGConnectingPoint num="25" id="14625" />
+<TGConnectingPoint num="26" id="14626" />
+<TGConnectingPoint num="27" id="14627" />
+<TGConnectingPoint num="28" id="14628" />
+<TGConnectingPoint num="29" id="14629" />
+<TGConnectingPoint num="30" id="14630" />
+<TGConnectingPoint num="31" id="14631" />
+<TGConnectingPoint num="32" id="14632" />
+<TGConnectingPoint num="33" id="14633" />
+<TGConnectingPoint num="34" id="14634" />
+<TGConnectingPoint num="35" id="14635" />
+<TGConnectingPoint num="36" id="14636" />
+<TGConnectingPoint num="37" id="14637" />
+<TGConnectingPoint num="38" id="14638" />
+<TGConnectingPoint num="39" id="14639" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="14657" index="15" uid="52c9e34d-063c-49e5-8dd9-44bced548377" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="+-------------------------+
+! Attack scenario !
++-------------------------+
+
+Injection of false speed values
+Sparta Attack 1 (II-B), see deliverable D5.2
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14641" />
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+<TGConnectingPoint num="14" id="14655" />
+<TGConnectingPoint num="15" id="14656" />
+<extraparam>
+<Line value="+-------------------------+" />
+<Line value="! Attack scenario !" />
+<Line value="+-------------------------+" />
+<Line value="" />
+<Line value="Injection of false speed values" />
+<Line value="Sparta Attack 1 (II-B), see deliverable D5.2" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="14674" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14658" />
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+<TGConnectingPoint num="14" id="14672" />
+<TGConnectingPoint num="15" id="14673" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14715" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<hidden value="false" />
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+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14675" />
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+<TGConnectingPoint num="37" id="14712" />
+<TGConnectingPoint num="38" id="14713" />
+<TGConnectingPoint num="39" id="14714" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="14724" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="650" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14716" />
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+<TGConnectingPoint num="5" id="14721" />
+<TGConnectingPoint num="6" id="14722" />
+<TGConnectingPoint num="7" id="14723" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="14733" index="19" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
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+<sizeparam width="250" height="248" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14725" />
+<TGConnectingPoint num="1" id="14726" />
+<TGConnectingPoint num="2" id="14727" />
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+<TGConnectingPoint num="5" id="14730" />
+<TGConnectingPoint num="6" id="14731" />
+<TGConnectingPoint num="7" id="14732" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
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+<Signal value="in inputMessage(int t, int c)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="lateralError" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+</extraparam>
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
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+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
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+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<TGConnectingPoint num="15" id="14831" />
+<TGConnectingPoint num="16" id="14832" />
+<TGConnectingPoint num="17" id="14833" />
+<TGConnectingPoint num="18" id="14834" />
+<TGConnectingPoint num="19" id="14835" />
+<TGConnectingPoint num="20" id="14836" />
+<TGConnectingPoint num="21" id="14837" />
+<TGConnectingPoint num="22" id="14838" />
+<TGConnectingPoint num="23" id="14839" />
+<TGConnectingPoint num="24" id="14840" />
+<TGConnectingPoint num="25" id="14841" />
+<TGConnectingPoint num="26" id="14842" />
+<TGConnectingPoint num="27" id="14843" />
+<TGConnectingPoint num="28" id="14844" />
+<TGConnectingPoint num="29" id="14845" />
+<TGConnectingPoint num="30" id="14846" />
+<TGConnectingPoint num="31" id="14847" />
+<TGConnectingPoint num="32" id="14848" />
+<TGConnectingPoint num="33" id="14849" />
+<TGConnectingPoint num="34" id="14850" />
+<TGConnectingPoint num="35" id="14851" />
+<TGConnectingPoint num="36" id="14852" />
+<TGConnectingPoint num="37" id="14853" />
+<TGConnectingPoint num="38" id="14854" />
+<TGConnectingPoint num="39" id="14855" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14897" index="23" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1448" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14857" />
+<TGConnectingPoint num="1" id="14858" />
+<TGConnectingPoint num="2" id="14859" />
+<TGConnectingPoint num="3" id="14860" />
+<TGConnectingPoint num="4" id="14861" />
+<TGConnectingPoint num="5" id="14862" />
+<TGConnectingPoint num="6" id="14863" />
+<TGConnectingPoint num="7" id="14864" />
+<TGConnectingPoint num="8" id="14865" />
+<TGConnectingPoint num="9" id="14866" />
+<TGConnectingPoint num="10" id="14867" />
+<TGConnectingPoint num="11" id="14868" />
+<TGConnectingPoint num="12" id="14869" />
+<TGConnectingPoint num="13" id="14870" />
+<TGConnectingPoint num="14" id="14871" />
+<TGConnectingPoint num="15" id="14872" />
+<TGConnectingPoint num="16" id="14873" />
+<TGConnectingPoint num="17" id="14874" />
+<TGConnectingPoint num="18" id="14875" />
+<TGConnectingPoint num="19" id="14876" />
+<TGConnectingPoint num="20" id="14877" />
+<TGConnectingPoint num="21" id="14878" />
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+<TGConnectingPoint num="24" id="14881" />
+<TGConnectingPoint num="25" id="14882" />
+<TGConnectingPoint num="26" id="14883" />
+<TGConnectingPoint num="27" id="14884" />
+<TGConnectingPoint num="28" id="14885" />
+<TGConnectingPoint num="29" id="14886" />
+<TGConnectingPoint num="30" id="14887" />
+<TGConnectingPoint num="31" id="14888" />
+<TGConnectingPoint num="32" id="14889" />
+<TGConnectingPoint num="33" id="14890" />
+<TGConnectingPoint num="34" id="14891" />
+<TGConnectingPoint num="35" id="14892" />
+<TGConnectingPoint num="36" id="14893" />
+<TGConnectingPoint num="37" id="14894" />
+<TGConnectingPoint num="38" id="14895" />
+<TGConnectingPoint num="39" id="14896" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14938" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="619" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14898" />
+<TGConnectingPoint num="1" id="14899" />
+<TGConnectingPoint num="2" id="14900" />
+<TGConnectingPoint num="3" id="14901" />
+<TGConnectingPoint num="4" id="14902" />
+<TGConnectingPoint num="5" id="14903" />
+<TGConnectingPoint num="6" id="14904" />
+<TGConnectingPoint num="7" id="14905" />
+<TGConnectingPoint num="8" id="14906" />
+<TGConnectingPoint num="9" id="14907" />
+<TGConnectingPoint num="10" id="14908" />
+<TGConnectingPoint num="11" id="14909" />
+<TGConnectingPoint num="12" id="14910" />
+<TGConnectingPoint num="13" id="14911" />
+<TGConnectingPoint num="14" id="14912" />
+<TGConnectingPoint num="15" id="14913" />
+<TGConnectingPoint num="16" id="14914" />
+<TGConnectingPoint num="17" id="14915" />
+<TGConnectingPoint num="18" id="14916" />
+<TGConnectingPoint num="19" id="14917" />
+<TGConnectingPoint num="20" id="14918" />
+<TGConnectingPoint num="21" id="14919" />
+<TGConnectingPoint num="22" id="14920" />
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+<TGConnectingPoint num="24" id="14922" />
+<TGConnectingPoint num="25" id="14923" />
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+<TGConnectingPoint num="27" id="14925" />
+<TGConnectingPoint num="28" id="14926" />
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+<TGConnectingPoint num="32" id="14930" />
+<TGConnectingPoint num="33" id="14931" />
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+<TGConnectingPoint num="36" id="14934" />
+<TGConnectingPoint num="37" id="14935" />
+<TGConnectingPoint num="38" id="14936" />
+<TGConnectingPoint num="39" id="14937" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14979" index="25" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1030" y="691" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14939" />
+<TGConnectingPoint num="1" id="14940" />
+<TGConnectingPoint num="2" id="14941" />
+<TGConnectingPoint num="3" id="14942" />
+<TGConnectingPoint num="4" id="14943" />
+<TGConnectingPoint num="5" id="14944" />
+<TGConnectingPoint num="6" id="14945" />
+<TGConnectingPoint num="7" id="14946" />
+<TGConnectingPoint num="8" id="14947" />
+<TGConnectingPoint num="9" id="14948" />
+<TGConnectingPoint num="10" id="14949" />
+<TGConnectingPoint num="11" id="14950" />
+<TGConnectingPoint num="12" id="14951" />
+<TGConnectingPoint num="13" id="14952" />
+<TGConnectingPoint num="14" id="14953" />
+<TGConnectingPoint num="15" id="14954" />
+<TGConnectingPoint num="16" id="14955" />
+<TGConnectingPoint num="17" id="14956" />
+<TGConnectingPoint num="18" id="14957" />
+<TGConnectingPoint num="19" id="14958" />
+<TGConnectingPoint num="20" id="14959" />
+<TGConnectingPoint num="21" id="14960" />
+<TGConnectingPoint num="22" id="14961" />
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+<TGConnectingPoint num="25" id="14964" />
+<TGConnectingPoint num="26" id="14965" />
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+<TGConnectingPoint num="30" id="14969" />
+<TGConnectingPoint num="31" id="14970" />
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+<TGConnectingPoint num="33" id="14972" />
+<TGConnectingPoint num="34" id="14973" />
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+<TGConnectingPoint num="36" id="14975" />
+<TGConnectingPoint num="37" id="14976" />
+<TGConnectingPoint num="38" id="14977" />
+<TGConnectingPoint num="39" id="14978" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="15020" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="714" y="58" />
+<sizeparam width="328" height="186" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14980" />
+<TGConnectingPoint num="1" id="14981" />
+<TGConnectingPoint num="2" id="14982" />
+<TGConnectingPoint num="3" id="14983" />
+<TGConnectingPoint num="4" id="14984" />
+<TGConnectingPoint num="5" id="14985" />
+<TGConnectingPoint num="6" id="14986" />
+<TGConnectingPoint num="7" id="14987" />
+<TGConnectingPoint num="8" id="14988" />
+<TGConnectingPoint num="9" id="14989" />
+<TGConnectingPoint num="10" id="14990" />
+<TGConnectingPoint num="11" id="14991" />
+<TGConnectingPoint num="12" id="14992" />
+<TGConnectingPoint num="13" id="14993" />
+<TGConnectingPoint num="14" id="14994" />
+<TGConnectingPoint num="15" id="14995" />
+<TGConnectingPoint num="16" id="14996" />
+<TGConnectingPoint num="17" id="14997" />
+<TGConnectingPoint num="18" id="14998" />
+<TGConnectingPoint num="19" id="14999" />
+<TGConnectingPoint num="20" id="15000" />
+<TGConnectingPoint num="21" id="15001" />
+<TGConnectingPoint num="22" id="15002" />
+<TGConnectingPoint num="23" id="15003" />
+<TGConnectingPoint num="24" id="15004" />
+<TGConnectingPoint num="25" id="15005" />
+<TGConnectingPoint num="26" id="15006" />
+<TGConnectingPoint num="27" id="15007" />
+<TGConnectingPoint num="28" id="15008" />
+<TGConnectingPoint num="29" id="15009" />
+<TGConnectingPoint num="30" id="15010" />
+<TGConnectingPoint num="31" id="15011" />
+<TGConnectingPoint num="32" id="15012" />
+<TGConnectingPoint num="33" id="15013" />
+<TGConnectingPoint num="34" id="15014" />
+<TGConnectingPoint num="35" id="15015" />
+<TGConnectingPoint num="36" id="15016" />
+<TGConnectingPoint num="37" id="15017" />
+<TGConnectingPoint num="38" id="15018" />
+<TGConnectingPoint num="39" id="15019" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leaderID" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="15027" index="0" uid="5ab4c8bb-29c9-4213-9d2e-ca5a8cf288c0" >
+<cdparam x="912" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="15026" />
+<P1  x="911" y="565" id="15185" />
+<P2  x="911" y="596" id="15173" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="15025" index="31" uid="66a79568-1df5-4df2-a712-7de90660cf4c" >
+<father id="15027" num="0" />
+<cdparam x="903" y="573" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="15021" />
+<TGConnectingPoint num="1" id="15022" />
+<TGConnectingPoint num="2" id="15023" />
+<TGConnectingPoint num="3" id="15024" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="15034" index="1" uid="561513ac-2ac8-4743-a8fd-71f0a5c83ced" >
+<cdparam x="914" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="15033" />
+<P1  x="913" y="478" id="15408" />
+<P2  x="911" y="535" id="15184" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="15032" index="32" uid="521f7867-2232-4783-94ae-119ea0cdc12a" >
+<father id="15034" num="0" />
+<cdparam x="920" y="507" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="15028" />
+<TGConnectingPoint num="1" id="15029" />
+<TGConnectingPoint num="2" id="15030" />
+<TGConnectingPoint num="3" id="15031" />
+<extraparam>
+<guard value="[leaderID == 3]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="15041" index="2" uid="bb642482-0fc1-4562-b5b1-e12fd7131b0b" >
+<cdparam x="554" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="15040" />
+<P1  x="555" y="565" id="15207" />
+<P2  x="555" y="596" id="15195" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="15039" index="33" uid="fb3f5d10-e93b-4452-bce0-6fb59584f4d6" >
+<father id="15041" num="0" />
+<cdparam x="542" y="576" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="15035" />
+<TGConnectingPoint num="1" id="15036" />
+<TGConnectingPoint num="2" id="15037" />
+<TGConnectingPoint num="3" id="15038" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="15048" index="3" uid="38f1529f-a3c3-4adb-ae3e-0f98a1ad8a68" >
+<cdparam x="556" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="15047" />
+<P1  x="557" y="478" id="15383" />
+<P2  x="555" y="535" id="15206" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="15046" index="34" uid="da06b493-7218-4ef9-9247-809790e9ed8f" >
+<father id="15048" num="0" />
+<cdparam x="564" y="510" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="15042" />
+<TGConnectingPoint num="1" id="15043" />
+<TGConnectingPoint num="2" id="15044" />
+<TGConnectingPoint num="3" id="15045" />
+<extraparam>
+<guard value="[leaderID == 2]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<TGConnectingPoint num="71" id="16165" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16167" />
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+<TGConnectingPoint num="15" id="16182" />
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+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="215" height="39" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="16198" />
+<TGConnectingPoint num="15" id="16199" />
+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16245" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="FExecutingCommands" />
+<new d="false" />
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+<hidden value="false" />
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+<actions value="fromRover = false" enabled="true"/>
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+<hidden value="false" />
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+<probability value="" enabled="true"/>
+<actions value="isInLane = true" enabled="true"/>
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+<hidden value="false" />
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+<actions value="joiningGreaterOrdinate = true" enabled="true"/>
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+<probability value="" enabled="true"/>
+<actions value="joiningSmallerOrdinate = true" enabled="true"/>
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+<actions value="sinH = -7" enabled="true"/>
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+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
+<actions value="x = x + xvar" enabled="true"/>
+<actions value="y = y + yvar" enabled="true"/>
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+<TGConnectingPoint num="0" id="18562" />
+<TGConnectingPoint num="1" id="18563" />
+<TGConnectingPoint num="2" id="18564" />
+<TGConnectingPoint num="3" id="18565" />
+<TGConnectingPoint num="4" id="18566" />
+<TGConnectingPoint num="5" id="18567" />
+<TGConnectingPoint num="6" id="18568" />
+<TGConnectingPoint num="7" id="18569" />
+<TGConnectingPoint num="8" id="18570" />
+<TGConnectingPoint num="9" id="18571" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="18583" index="68" uid="709a413d-d8f6-47d3-84fd-d81631621be1" >
+<cdparam x="540" y="961" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18573" />
+<TGConnectingPoint num="1" id="18574" />
+<TGConnectingPoint num="2" id="18575" />
+<TGConnectingPoint num="3" id="18576" />
+<TGConnectingPoint num="4" id="18577" />
+<TGConnectingPoint num="5" id="18578" />
+<TGConnectingPoint num="6" id="18579" />
+<TGConnectingPoint num="7" id="18580" />
+<TGConnectingPoint num="8" id="18581" />
+<TGConnectingPoint num="9" id="18582" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="18599" index="69" uid="ac53fcee-2152-4a5d-bb83-162ab6937014" >
+<cdparam x="556" y="894" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18584" />
+<TGConnectingPoint num="1" id="18585" />
+<TGConnectingPoint num="2" id="18586" />
+<TGConnectingPoint num="3" id="18587" />
+<TGConnectingPoint num="4" id="18588" />
+<TGConnectingPoint num="5" id="18589" />
+<TGConnectingPoint num="6" id="18590" />
+<TGConnectingPoint num="7" id="18591" />
+<TGConnectingPoint num="8" id="18592" />
+<TGConnectingPoint num="9" id="18593" />
+<TGConnectingPoint num="10" id="18594" />
+<TGConnectingPoint num="11" id="18595" />
+<TGConnectingPoint num="12" id="18596" />
+<TGConnectingPoint num="13" id="18597" />
+<TGConnectingPoint num="14" id="18598" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18606" index="0" uid="1c5f47af-3244-493b-8719-0df184d8be4e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18605" />
+<P1  x="407" y="70" id="18627" />
+<P2  x="407" y="109" id="18614" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18604" index="5" uid="ccc1c921-0c9d-4665-b53c-eeab245f81c3" >
+<father id="18606" num="0" />
+<cdparam x="427" y="88" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18600" />
+<TGConnectingPoint num="1" id="18601" />
+<TGConnectingPoint num="2" id="18602" />
+<TGConnectingPoint num="3" id="18603" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18613" index="1" uid="b81148dc-8397-492d-a8ff-cfc46782f236" >
+<cdparam x="447" y="141" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18612" />
+<P1  x="407" y="144" id="18615" />
+<P2  x="407" y="190" id="18625" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18611" index="6" uid="b63eabf9-c7a8-47a6-a826-71a6802c3c99" >
+<father id="18613" num="0" />
+<cdparam x="427" y="165" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18607" />
+<TGConnectingPoint num="1" id="18608" />
+<TGConnectingPoint num="2" id="18609" />
+<TGConnectingPoint num="3" id="18610" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="18624" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
+<cdparam x="357" y="114" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18614" />
+<TGConnectingPoint num="1" id="18615" />
+<TGConnectingPoint num="2" id="18616" />
+<TGConnectingPoint num="3" id="18617" />
+<TGConnectingPoint num="4" id="18618" />
+<TGConnectingPoint num="5" id="18619" />
+<TGConnectingPoint num="6" id="18620" />
+<TGConnectingPoint num="7" id="18621" />
+<TGConnectingPoint num="8" id="18622" />
+<TGConnectingPoint num="9" id="18623" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18626" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18625" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="18628" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18627" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18635" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18634" />
+<P1  x="407" y="70" id="18656" />
+<P2  x="407" y="110" id="18643" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18633" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="18635" num="0" />
+<cdparam x="427" y="99" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18629" />
+<TGConnectingPoint num="1" id="18630" />
+<TGConnectingPoint num="2" id="18631" />
+<TGConnectingPoint num="3" id="18632" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18642" index="1" uid="43d46f5b-11aa-4ebe-8760-5a74e0221c9c" >
+<cdparam x="448" y="163" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18641" />
+<P1  x="407" y="145" id="18644" />
+<P2  x="407" y="188" id="18654" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18640" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="18642" num="0" />
+<cdparam x="427" y="175" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18636" />
+<TGConnectingPoint num="1" id="18637" />
+<TGConnectingPoint num="2" id="18638" />
+<TGConnectingPoint num="3" id="18639" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="18653" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
+<cdparam x="357" y="115" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18643" />
+<TGConnectingPoint num="1" id="18644" />
+<TGConnectingPoint num="2" id="18645" />
+<TGConnectingPoint num="3" id="18646" />
+<TGConnectingPoint num="4" id="18647" />
+<TGConnectingPoint num="5" id="18648" />
+<TGConnectingPoint num="6" id="18649" />
+<TGConnectingPoint num="7" id="18650" />
+<TGConnectingPoint num="8" id="18651" />
+<TGConnectingPoint num="9" id="18652" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18655" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18654" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="18657" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18656" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18664" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18663" />
+<P1  x="0" y="0" id="4103" />
+<P2  x="0" y="0" id="4105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18662" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="18664" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18658" />
+<TGConnectingPoint num="1" id="18659" />
+<TGConnectingPoint num="2" id="18660" />
+<TGConnectingPoint num="3" id="18661" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18671" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
+<cdparam x="407" y="147" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18670" />
+<P1  x="0" y="0" id="4106" />
+<P2  x="0" y="0" id="4123" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18669" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="18671" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18665" />
+<TGConnectingPoint num="1" id="18666" />
+<TGConnectingPoint num="2" id="18667" />
+<TGConnectingPoint num="3" id="18668" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18678" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18677" />
+<P1  x="407" y="70" id="18699" />
+<P2  x="407" y="108" id="18686" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18676" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="18678" num="0" />
+<cdparam x="424" y="89" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18672" />
+<TGConnectingPoint num="1" id="18673" />
+<TGConnectingPoint num="2" id="18674" />
+<TGConnectingPoint num="3" id="18675" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18685" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
+<cdparam x="442" y="144" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18684" />
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+<hidden value="false" />
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+<extraparam>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
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+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
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+
+</AVATARStateMachineDiagramPanel>
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+<hidden value="false" />
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+<extraparam>
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+<hidden value="false" />
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+<extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18731" />
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+<TGConnectingPoint num="2" id="18733" />
+<TGConnectingPoint num="3" id="18734" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18949" />
+<TGConnectingPoint num="1" id="18950" />
+<TGConnectingPoint num="2" id="18951" />
+<TGConnectingPoint num="3" id="18952" />
+<TGConnectingPoint num="4" id="18953" />
+<TGConnectingPoint num="5" id="18954" />
+<TGConnectingPoint num="6" id="18955" />
+<TGConnectingPoint num="7" id="18956" />
+<TGConnectingPoint num="8" id="18957" />
+<TGConnectingPoint num="9" id="18958" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18961" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18960" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="18963" index="6" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18962" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18970" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18969" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18968" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="18970" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18964" />
+<TGConnectingPoint num="1" id="18965" />
+<TGConnectingPoint num="2" id="18966" />
+<TGConnectingPoint num="3" id="18967" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18977" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18976" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18975" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="18977" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18971" />
+<TGConnectingPoint num="1" id="18972" />
+<TGConnectingPoint num="2" id="18973" />
+<TGConnectingPoint num="3" id="18974" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18984" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18983" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18982" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="18984" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18978" />
+<TGConnectingPoint num="1" id="18979" />
+<TGConnectingPoint num="2" id="18980" />
+<TGConnectingPoint num="3" id="18981" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18991" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18990" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18989" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="18991" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18985" />
+<TGConnectingPoint num="1" id="18986" />
+<TGConnectingPoint num="2" id="18987" />
+<TGConnectingPoint num="3" id="18988" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18998" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18997" />
+<P1  x="407" y="70" id="19019" />
+<P2  x="407" y="125" id="19006" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18996" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="18998" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18992" />
+<TGConnectingPoint num="1" id="18993" />
+<TGConnectingPoint num="2" id="18994" />
+<TGConnectingPoint num="3" id="18995" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19005" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19004" />
+<P1  x="407" y="160" id="19007" />
+<P2  x="407" y="224" id="19017" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19003" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="19005" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18999" />
+<TGConnectingPoint num="1" id="19000" />
+<TGConnectingPoint num="2" id="19001" />
+<TGConnectingPoint num="3" id="19002" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="19016" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19006" />
+<TGConnectingPoint num="1" id="19007" />
+<TGConnectingPoint num="2" id="19008" />
+<TGConnectingPoint num="3" id="19009" />
+<TGConnectingPoint num="4" id="19010" />
+<TGConnectingPoint num="5" id="19011" />
+<TGConnectingPoint num="6" id="19012" />
+<TGConnectingPoint num="7" id="19013" />
+<TGConnectingPoint num="8" id="19014" />
+<TGConnectingPoint num="9" id="19015" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="19018" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19017" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="19020" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19019" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="19027" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19026" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19025" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="19027" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19021" />
+<TGConnectingPoint num="1" id="19022" />
+<TGConnectingPoint num="2" id="19023" />
+<TGConnectingPoint num="3" id="19024" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19034" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19033" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19032" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="19034" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19028" />
+<TGConnectingPoint num="1" id="19029" />
+<TGConnectingPoint num="2" id="19030" />
+<TGConnectingPoint num="3" id="19031" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19041" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19040" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19039" index="11" uid="0c95aead-f787-42ef-81ed-073b7584a7e5" >
+<father id="19041" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19035" />
+<TGConnectingPoint num="1" id="19036" />
+<TGConnectingPoint num="2" id="19037" />
+<TGConnectingPoint num="3" id="19038" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19048" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19047" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
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+<Signal value="out toFollower(int x, int y)" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19209" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing  data="true" />
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+</SUBCOMPONENT>
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+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="19216" />
+<TGConnectingPoint num="2" id="19217" />
+<TGConnectingPoint num="3" id="19218" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19231" />
+<P1  x="407" y="70" id="19342" />
+<P2  x="407" y="110" id="19270" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="19227" />
+<TGConnectingPoint num="2" id="19228" />
+<TGConnectingPoint num="3" id="19229" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2  x="407" y="193" id="19258" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="19234" />
+<TGConnectingPoint num="2" id="19235" />
+<TGConnectingPoint num="3" id="19236" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2  x="407" y="265" id="19247" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19240" />
+<TGConnectingPoint num="1" id="19241" />
+<TGConnectingPoint num="2" id="19242" />
+<TGConnectingPoint num="3" id="19243" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="19249" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19258" />
+<TGConnectingPoint num="1" id="19259" />
+<TGConnectingPoint num="2" id="19260" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
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+<extraparam>
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+</COMPONENT>
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19342" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19353" />
+<TGConnectingPoint num="1" id="19354" />
+<TGConnectingPoint num="2" id="19355" />
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+<P1  x="407" y="295" id="19381" />
+<P2  x="357" y="110" id="19402" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="19358" num="0" />
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
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+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19364" />
+<P1  x="407" y="70" id="19475" />
+<P2  x="407" y="110" id="19403" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="19360" />
+<TGConnectingPoint num="2" id="19361" />
+<TGConnectingPoint num="3" id="19362" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19372" index="2" uid="ba7ba4a7-d1d0-4862-ac85-1da2fc29b06c" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19371" />
+<P1  x="407" y="160" id="19440" />
+<P2  x="407" y="193" id="19391" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="19372" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19366" />
+<TGConnectingPoint num="1" id="19367" />
+<TGConnectingPoint num="2" id="19368" />
+<TGConnectingPoint num="3" id="19369" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19379" index="3" uid="6ed600ff-b5d0-4bd6-a725-280fa95e1a62" >
+<cdparam x="407" y="223" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19378" />
+<P1  x="407" y="223" id="19392" />
+<P2  x="407" y="265" id="19380" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19377" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="19379" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19373" />
+<TGConnectingPoint num="1" id="19374" />
+<TGConnectingPoint num="2" id="19375" />
+<TGConnectingPoint num="3" id="19376" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="19390" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19380" />
+<TGConnectingPoint num="1" id="19381" />
+<TGConnectingPoint num="2" id="19382" />
+<TGConnectingPoint num="3" id="19383" />
+<TGConnectingPoint num="4" id="19384" />
+<TGConnectingPoint num="5" id="19385" />
+<TGConnectingPoint num="6" id="19386" />
+<TGConnectingPoint num="7" id="19387" />
+<TGConnectingPoint num="8" id="19388" />
+<TGConnectingPoint num="9" id="19389" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="19401" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19391" />
+<TGConnectingPoint num="1" id="19392" />
+<TGConnectingPoint num="2" id="19393" />
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+<TGConnectingPoint num="5" id="19396" />
+<TGConnectingPoint num="6" id="19397" />
+<TGConnectingPoint num="7" id="19398" />
+<TGConnectingPoint num="8" id="19399" />
+<TGConnectingPoint num="9" id="19400" />
+</COMPONENT>
+
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+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19402" />
+<TGConnectingPoint num="1" id="19403" />
+<TGConnectingPoint num="2" id="19404" />
+<TGConnectingPoint num="3" id="19405" />
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+<TGConnectingPoint num="7" id="19409" />
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+<TGConnectingPoint num="60" id="19462" />
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+<TGConnectingPoint num="65" id="19467" />
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+<TGConnectingPoint num="68" id="19470" />
+<TGConnectingPoint num="69" id="19471" />
+<TGConnectingPoint num="70" id="19472" />
+<TGConnectingPoint num="71" id="19473" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="19476" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19475" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="19478" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19477" />
+<P1  x="1003" y="771" id="19786" />
+<P2  x="1029" y="772" id="19908" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19480" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19479" />
+<P1  x="465" y="591" id="19589" />
+<P2  x="465" y="653" id="19742" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19482" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19481" />
+<P1  x="879" y="589" id="19548" />
+<P2  x="878" y="653" id="19783" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19484" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19483" />
+<P1  x="1297" y="589" id="19507" />
+<P2  x="1298" y="653" id="19701" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19486" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19485" />
+<P1  x="878" y="890" id="19788" />
+<P2  x="876" y="926" id="19642" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19488" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19487" />
+<P1  x="1298" y="891" id="19706" />
+<P2  x="1001" y="1040" id="19645" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19490" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19489" />
+<P1  x="1423" y="772" id="19704" />
+<P2  x="1448" y="773" id="19826" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19492" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19491" />
+<P1  x="590" y="772" id="19745" />
+<P2  x="619" y="773" id="19867" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19494" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19493" />
+<P1  x="465" y="891" id="19747" />
+<P2  x="751" y="1040" id="19644" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19496" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19495" />
+<P1  x="795" y="243" id="19960" />
+<P2  x="465" y="331" id="19584" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19498" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19497" />
+<P1  x="877" y="243" id="19952" />
+<P2  x="879" y="332" id="19543" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19500" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19499" />
+<P1  x="959" y="243" id="19961" />
+<P2  x="1297" y="329" id="19502" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="19541" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19501" />
+<TGConnectingPoint num="1" id="19502" />
+<TGConnectingPoint num="2" id="19503" />
+<TGConnectingPoint num="3" id="19504" />
+<TGConnectingPoint num="4" id="19505" />
+<TGConnectingPoint num="5" id="19506" />
+<TGConnectingPoint num="6" id="19507" />
+<TGConnectingPoint num="7" id="19508" />
+<TGConnectingPoint num="8" id="19509" />
+<TGConnectingPoint num="9" id="19510" />
+<TGConnectingPoint num="10" id="19511" />
+<TGConnectingPoint num="11" id="19512" />
+<TGConnectingPoint num="12" id="19513" />
+<TGConnectingPoint num="13" id="19514" />
+<TGConnectingPoint num="14" id="19515" />
+<TGConnectingPoint num="15" id="19516" />
+<TGConnectingPoint num="16" id="19517" />
+<TGConnectingPoint num="17" id="19518" />
+<TGConnectingPoint num="18" id="19519" />
+<TGConnectingPoint num="19" id="19520" />
+<TGConnectingPoint num="20" id="19521" />
+<TGConnectingPoint num="21" id="19522" />
+<TGConnectingPoint num="22" id="19523" />
+<TGConnectingPoint num="23" id="19524" />
+<TGConnectingPoint num="24" id="19525" />
+<TGConnectingPoint num="25" id="19526" />
+<TGConnectingPoint num="26" id="19527" />
+<TGConnectingPoint num="27" id="19528" />
+<TGConnectingPoint num="28" id="19529" />
+<TGConnectingPoint num="29" id="19530" />
+<TGConnectingPoint num="30" id="19531" />
+<TGConnectingPoint num="31" id="19532" />
+<TGConnectingPoint num="32" id="19533" />
+<TGConnectingPoint num="33" id="19534" />
+<TGConnectingPoint num="34" id="19535" />
+<TGConnectingPoint num="35" id="19536" />
+<TGConnectingPoint num="36" id="19537" />
+<TGConnectingPoint num="37" id="19538" />
+<TGConnectingPoint num="38" id="19539" />
+<TGConnectingPoint num="39" id="19540" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19582" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19542" />
+<TGConnectingPoint num="1" id="19543" />
+<TGConnectingPoint num="2" id="19544" />
+<TGConnectingPoint num="3" id="19545" />
+<TGConnectingPoint num="4" id="19546" />
+<TGConnectingPoint num="5" id="19547" />
+<TGConnectingPoint num="6" id="19548" />
+<TGConnectingPoint num="7" id="19549" />
+<TGConnectingPoint num="8" id="19550" />
+<TGConnectingPoint num="9" id="19551" />
+<TGConnectingPoint num="10" id="19552" />
+<TGConnectingPoint num="11" id="19553" />
+<TGConnectingPoint num="12" id="19554" />
+<TGConnectingPoint num="13" id="19555" />
+<TGConnectingPoint num="14" id="19556" />
+<TGConnectingPoint num="15" id="19557" />
+<TGConnectingPoint num="16" id="19558" />
+<TGConnectingPoint num="17" id="19559" />
+<TGConnectingPoint num="18" id="19560" />
+<TGConnectingPoint num="19" id="19561" />
+<TGConnectingPoint num="20" id="19562" />
+<TGConnectingPoint num="21" id="19563" />
+<TGConnectingPoint num="22" id="19564" />
+<TGConnectingPoint num="23" id="19565" />
+<TGConnectingPoint num="24" id="19566" />
+<TGConnectingPoint num="25" id="19567" />
+<TGConnectingPoint num="26" id="19568" />
+<TGConnectingPoint num="27" id="19569" />
+<TGConnectingPoint num="28" id="19570" />
+<TGConnectingPoint num="29" id="19571" />
+<TGConnectingPoint num="30" id="19572" />
+<TGConnectingPoint num="31" id="19573" />
+<TGConnectingPoint num="32" id="19574" />
+<TGConnectingPoint num="33" id="19575" />
+<TGConnectingPoint num="34" id="19576" />
+<TGConnectingPoint num="35" id="19577" />
+<TGConnectingPoint num="36" id="19578" />
+<TGConnectingPoint num="37" id="19579" />
+<TGConnectingPoint num="38" id="19580" />
+<TGConnectingPoint num="39" id="19581" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19623" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19583" />
+<TGConnectingPoint num="1" id="19584" />
+<TGConnectingPoint num="2" id="19585" />
+<TGConnectingPoint num="3" id="19586" />
+<TGConnectingPoint num="4" id="19587" />
+<TGConnectingPoint num="5" id="19588" />
+<TGConnectingPoint num="6" id="19589" />
+<TGConnectingPoint num="7" id="19590" />
+<TGConnectingPoint num="8" id="19591" />
+<TGConnectingPoint num="9" id="19592" />
+<TGConnectingPoint num="10" id="19593" />
+<TGConnectingPoint num="11" id="19594" />
+<TGConnectingPoint num="12" id="19595" />
+<TGConnectingPoint num="13" id="19596" />
+<TGConnectingPoint num="14" id="19597" />
+<TGConnectingPoint num="15" id="19598" />
+<TGConnectingPoint num="16" id="19599" />
+<TGConnectingPoint num="17" id="19600" />
+<TGConnectingPoint num="18" id="19601" />
+<TGConnectingPoint num="19" id="19602" />
+<TGConnectingPoint num="20" id="19603" />
+<TGConnectingPoint num="21" id="19604" />
+<TGConnectingPoint num="22" id="19605" />
+<TGConnectingPoint num="23" id="19606" />
+<TGConnectingPoint num="24" id="19607" />
+<TGConnectingPoint num="25" id="19608" />
+<TGConnectingPoint num="26" id="19609" />
+<TGConnectingPoint num="27" id="19610" />
+<TGConnectingPoint num="28" id="19611" />
+<TGConnectingPoint num="29" id="19612" />
+<TGConnectingPoint num="30" id="19613" />
+<TGConnectingPoint num="31" id="19614" />
+<TGConnectingPoint num="32" id="19615" />
+<TGConnectingPoint num="33" id="19616" />
+<TGConnectingPoint num="34" id="19617" />
+<TGConnectingPoint num="35" id="19618" />
+<TGConnectingPoint num="36" id="19619" />
+<TGConnectingPoint num="37" id="19620" />
+<TGConnectingPoint num="38" id="19621" />
+<TGConnectingPoint num="39" id="19622" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="19640" index="15" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="46" />
+<sizeparam width="221" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19624" />
+<TGConnectingPoint num="1" id="19625" />
+<TGConnectingPoint num="2" id="19626" />
+<TGConnectingPoint num="3" id="19627" />
+<TGConnectingPoint num="4" id="19628" />
+<TGConnectingPoint num="5" id="19629" />
+<TGConnectingPoint num="6" id="19630" />
+<TGConnectingPoint num="7" id="19631" />
+<TGConnectingPoint num="8" id="19632" />
+<TGConnectingPoint num="9" id="19633" />
+<TGConnectingPoint num="10" id="19634" />
+<TGConnectingPoint num="11" id="19635" />
+<TGConnectingPoint num="12" id="19636" />
+<TGConnectingPoint num="13" id="19637" />
+<TGConnectingPoint num="14" id="19638" />
+<TGConnectingPoint num="15" id="19639" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19681" index="16" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
+<cdparam x="751" y="926" />
+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19641" />
+<TGConnectingPoint num="1" id="19642" />
+<TGConnectingPoint num="2" id="19643" />
+<TGConnectingPoint num="3" id="19644" />
+<TGConnectingPoint num="4" id="19645" />
+<TGConnectingPoint num="5" id="19646" />
+<TGConnectingPoint num="6" id="19647" />
+<TGConnectingPoint num="7" id="19648" />
+<TGConnectingPoint num="8" id="19649" />
+<TGConnectingPoint num="9" id="19650" />
+<TGConnectingPoint num="10" id="19651" />
+<TGConnectingPoint num="11" id="19652" />
+<TGConnectingPoint num="12" id="19653" />
+<TGConnectingPoint num="13" id="19654" />
+<TGConnectingPoint num="14" id="19655" />
+<TGConnectingPoint num="15" id="19656" />
+<TGConnectingPoint num="16" id="19657" />
+<TGConnectingPoint num="17" id="19658" />
+<TGConnectingPoint num="18" id="19659" />
+<TGConnectingPoint num="19" id="19660" />
+<TGConnectingPoint num="20" id="19661" />
+<TGConnectingPoint num="21" id="19662" />
+<TGConnectingPoint num="22" id="19663" />
+<TGConnectingPoint num="23" id="19664" />
+<TGConnectingPoint num="24" id="19665" />
+<TGConnectingPoint num="25" id="19666" />
+<TGConnectingPoint num="26" id="19667" />
+<TGConnectingPoint num="27" id="19668" />
+<TGConnectingPoint num="28" id="19669" />
+<TGConnectingPoint num="29" id="19670" />
+<TGConnectingPoint num="30" id="19671" />
+<TGConnectingPoint num="31" id="19672" />
+<TGConnectingPoint num="32" id="19673" />
+<TGConnectingPoint num="33" id="19674" />
+<TGConnectingPoint num="34" id="19675" />
+<TGConnectingPoint num="35" id="19676" />
+<TGConnectingPoint num="36" id="19677" />
+<TGConnectingPoint num="37" id="19678" />
+<TGConnectingPoint num="38" id="19679" />
+<TGConnectingPoint num="39" id="19680" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="19690" index="17" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19682" />
+<TGConnectingPoint num="1" id="19683" />
+<TGConnectingPoint num="2" id="19684" />
+<TGConnectingPoint num="3" id="19685" />
+<TGConnectingPoint num="4" id="19686" />
+<TGConnectingPoint num="5" id="19687" />
+<TGConnectingPoint num="6" id="19688" />
+<TGConnectingPoint num="7" id="19689" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
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+<Signal value="out sensedData(int g, bool l, bool p)" />
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+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
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+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
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+<Signal value="out toEnvironment(int v, int h)" />
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+<TGConnectingPoint num="37" id="19901" />
+<TGConnectingPoint num="38" id="19902" />
+<TGConnectingPoint num="39" id="19903" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19945" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1029" y="691" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19905" />
+<TGConnectingPoint num="1" id="19906" />
+<TGConnectingPoint num="2" id="19907" />
+<TGConnectingPoint num="3" id="19908" />
+<TGConnectingPoint num="4" id="19909" />
+<TGConnectingPoint num="5" id="19910" />
+<TGConnectingPoint num="6" id="19911" />
+<TGConnectingPoint num="7" id="19912" />
+<TGConnectingPoint num="8" id="19913" />
+<TGConnectingPoint num="9" id="19914" />
+<TGConnectingPoint num="10" id="19915" />
+<TGConnectingPoint num="11" id="19916" />
+<TGConnectingPoint num="12" id="19917" />
+<TGConnectingPoint num="13" id="19918" />
+<TGConnectingPoint num="14" id="19919" />
+<TGConnectingPoint num="15" id="19920" />
+<TGConnectingPoint num="16" id="19921" />
+<TGConnectingPoint num="17" id="19922" />
+<TGConnectingPoint num="18" id="19923" />
+<TGConnectingPoint num="19" id="19924" />
+<TGConnectingPoint num="20" id="19925" />
+<TGConnectingPoint num="21" id="19926" />
+<TGConnectingPoint num="22" id="19927" />
+<TGConnectingPoint num="23" id="19928" />
+<TGConnectingPoint num="24" id="19929" />
+<TGConnectingPoint num="25" id="19930" />
+<TGConnectingPoint num="26" id="19931" />
+<TGConnectingPoint num="27" id="19932" />
+<TGConnectingPoint num="28" id="19933" />
+<TGConnectingPoint num="29" id="19934" />
+<TGConnectingPoint num="30" id="19935" />
+<TGConnectingPoint num="31" id="19936" />
+<TGConnectingPoint num="32" id="19937" />
+<TGConnectingPoint num="33" id="19938" />
+<TGConnectingPoint num="34" id="19939" />
+<TGConnectingPoint num="35" id="19940" />
+<TGConnectingPoint num="36" id="19941" />
+<TGConnectingPoint num="37" id="19942" />
+<TGConnectingPoint num="38" id="19943" />
+<TGConnectingPoint num="39" id="19944" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19986" index="25" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="51" />
+<sizeparam width="328" height="192" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19946" />
+<TGConnectingPoint num="1" id="19947" />
+<TGConnectingPoint num="2" id="19948" />
+<TGConnectingPoint num="3" id="19949" />
+<TGConnectingPoint num="4" id="19950" />
+<TGConnectingPoint num="5" id="19951" />
+<TGConnectingPoint num="6" id="19952" />
+<TGConnectingPoint num="7" id="19953" />
+<TGConnectingPoint num="8" id="19954" />
+<TGConnectingPoint num="9" id="19955" />
+<TGConnectingPoint num="10" id="19956" />
+<TGConnectingPoint num="11" id="19957" />
+<TGConnectingPoint num="12" id="19958" />
+<TGConnectingPoint num="13" id="19959" />
+<TGConnectingPoint num="14" id="19960" />
+<TGConnectingPoint num="15" id="19961" />
+<TGConnectingPoint num="16" id="19962" />
+<TGConnectingPoint num="17" id="19963" />
+<TGConnectingPoint num="18" id="19964" />
+<TGConnectingPoint num="19" id="19965" />
+<TGConnectingPoint num="20" id="19966" />
+<TGConnectingPoint num="21" id="19967" />
+<TGConnectingPoint num="22" id="19968" />
+<TGConnectingPoint num="23" id="19969" />
+<TGConnectingPoint num="24" id="19970" />
+<TGConnectingPoint num="25" id="19971" />
+<TGConnectingPoint num="26" id="19972" />
+<TGConnectingPoint num="27" id="19973" />
+<TGConnectingPoint num="28" id="19974" />
+<TGConnectingPoint num="29" id="19975" />
+<TGConnectingPoint num="30" id="19976" />
+<TGConnectingPoint num="31" id="19977" />
+<TGConnectingPoint num="32" id="19978" />
+<TGConnectingPoint num="33" id="19979" />
+<TGConnectingPoint num="34" id="19980" />
+<TGConnectingPoint num="35" id="19981" />
+<TGConnectingPoint num="36" id="19982" />
+<TGConnectingPoint num="37" id="19983" />
+<TGConnectingPoint num="38" id="19984" />
+<TGConnectingPoint num="39" id="19985" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="19993" index="0" uid="dede73a6-0507-4c2d-9be0-5c655829f99b" >
+<cdparam x="614" y="7" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19992" />
+<P1  x="620" y="57" id="20274" />
+<P2  x="620" y="105" id="20202" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19991" index="24" uid="1c8b4bb8-8807-458b-98ec-8160e3369a3d" >
+<father id="19993" num="0" />
+<cdparam x="617" y="56" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19987" />
+<TGConnectingPoint num="1" id="19988" />
+<TGConnectingPoint num="2" id="19989" />
+<TGConnectingPoint num="3" id="19990" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20000" index="1" uid="f3fb991a-1dd4-4422-95ed-8f504d66d288" >
+<cdparam x="1033" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19999" />
+<P1  x="1038" y="238" id="20125" />
+<P2  x="1036" y="262" id="20113" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19998" index="25" uid="440e66fd-c436-4e2a-8dfb-c65fe50fa5b9" >
+<father id="20000" num="0" />
+<cdparam x="1026" y="249" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19994" />
+<TGConnectingPoint num="1" id="19995" />
+<TGConnectingPoint num="2" id="19996" />
+<TGConnectingPoint num="3" id="19997" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20007" index="2" uid="ef932124-ccab-48dd-b58a-66d40378d2d2" >
+<cdparam x="622" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20006" />
+<P1  x="620" y="237" id="20158" />
+<P2  x="618" y="264" id="20146" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20005" index="26" uid="c9e43699-7259-4baa-b8da-4b91871bccbc" >
+<father id="20007" num="0" />
+<cdparam x="622" y="254" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20001" />
+<TGConnectingPoint num="1" id="20002" />
+<TGConnectingPoint num="2" id="20003" />
+<TGConnectingPoint num="3" id="20004" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20014" index="3" uid="df40c864-498c-406d-9ad6-2458f80af67c" >
+<cdparam x="268" y="249" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20013" />
+<P1  x="257" y="237" id="20180" />
+<P2  x="255" y="266" id="20190" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20012" index="27" uid="28ac56e7-2a6a-4d83-a21d-a5706efdcce2" >
+<father id="20014" num="0" />
+<cdparam x="261" y="256" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20008" />
+<TGConnectingPoint num="1" id="20009" />
+<TGConnectingPoint num="2" id="20010" />
+<TGConnectingPoint num="3" id="20011" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20021" index="4" uid="d7b2dec9-1f5a-41dc-bb16-6cf3dfdc64e6" >
+<cdparam x="249" y="305" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20020" />
+<P1  x="255" y="296" id="20191" />
+<P2  x="255" y="322" id="20168" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20019" index="28" uid="f4289ec1-818a-4417-af00-d3fbfcb4b274" >
+<father id="20021" num="0" />
+<cdparam x="234" y="349" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20015" />
+<TGConnectingPoint num="1" id="20016" />
+<TGConnectingPoint num="2" id="20017" />
+<TGConnectingPoint num="3" id="20018" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20028" index="5" uid="b219789d-0eff-407c-94dd-ec3d58c6e5cf" >
+<cdparam x="715" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20027" />
+<P1  x="714" y="155" id="20240" />
+<P2  x="1038" y="208" id="20124" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20026" index="29" uid="e3abb03d-780c-4f42-ae27-35029280a5c0" >
+<father id="20028" num="0" />
+<cdparam x="720" y="164" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20022" />
+<TGConnectingPoint num="1" id="20023" />
+<TGConnectingPoint num="2" id="20024" />
+<TGConnectingPoint num="3" id="20025" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20035" index="6" uid="e532685e-3909-41b7-9eb3-3994fa87286e" >
+<cdparam x="598" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20034" />
+<P1  x="620" y="155" id="20207" />
+<P2  x="620" y="207" id="20157" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20033" index="30" uid="bfaa1fd6-3784-43a2-b93f-378cd62e7560" >
+<father id="20035" num="0" />
+<cdparam x="598" y="166" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20029" />
+<TGConnectingPoint num="1" id="20030" />
+<TGConnectingPoint num="2" id="20031" />
+<TGConnectingPoint num="3" id="20032" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="20050" index="7" uid="c2edf871-46bc-4610-8517-10ba8a1540cf" >
+<cdparam x="466" y="359" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20045" />
+<TGConnectingPoint num="1" id="20046" />
+<TGConnectingPoint num="2" id="20047" />
+<TGConnectingPoint num="3" id="20048" />
+<TGConnectingPoint num="4" id="20049" />
+<P1  x="255" y="352" id="20169" />
+<P2  x="527" y="130" id="20204" />
+<Point x="257" y="376" />
+<Point x="36" y="376" />
+<Point x="36" y="110" />
+<Point x="507" y="110" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="20036" index="31" uid="363ee9de-d732-413e-8d32-4b5d7323fb7b" >
+<father id="20050" num="0" />
+<cdparam x="257" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="20037" index="32" uid="1ac06389-bb92-41a4-a289-3a284b053ba0" >
+<father id="20050" num="1" />
+<cdparam x="36" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="20038" index="33" uid="b8c8c244-4d5d-4a33-bb18-f50fb5fdff0d" >
+<father id="20050" num="2" />
+<cdparam x="36" y="110" />
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+<new d="false" />
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+
+</AVATARStateMachineDiagramPanel>
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+<actions value="messageContent = lastLegitimateMessageContent" enabled="true"/>
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+<actions value="lastLegitimateMessageType = messageType" enabled="true"/>
+<actions value="lastLegitimateMessageContent = messageContent" enabled="true"/>
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+<actions value="networkUpdate = true" enabled="true"/>
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+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="21032" />
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+<extraparam>
+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23414" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23416" />
+<TGConnectingPoint num="1" id="23417" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23427" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23438" />
+<TGConnectingPoint num="1" id="23439" />
+<TGConnectingPoint num="2" id="23440" />
+<TGConnectingPoint num="3" id="23441" />
+<TGConnectingPoint num="4" id="23442" />
+<TGConnectingPoint num="5" id="23443" />
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+<TGConnectingPoint num="7" id="23445" />
+<TGConnectingPoint num="8" id="23446" />
+<TGConnectingPoint num="9" id="23447" />
+</COMPONENT>
+
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+<cdparam x="556" y="894" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23449" />
+<TGConnectingPoint num="1" id="23450" />
+<TGConnectingPoint num="2" id="23451" />
+<TGConnectingPoint num="3" id="23452" />
+<TGConnectingPoint num="4" id="23453" />
+<TGConnectingPoint num="5" id="23454" />
+<TGConnectingPoint num="6" id="23455" />
+<TGConnectingPoint num="7" id="23456" />
+<TGConnectingPoint num="8" id="23457" />
+<TGConnectingPoint num="9" id="23458" />
+<TGConnectingPoint num="10" id="23459" />
+<TGConnectingPoint num="11" id="23460" />
+<TGConnectingPoint num="12" id="23461" />
+<TGConnectingPoint num="13" id="23462" />
+<TGConnectingPoint num="14" id="23463" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23471" index="0" uid="1c5f47af-3244-493b-8719-0df184d8be4e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23470" />
+<P1  x="407" y="70" id="23492" />
+<P2  x="407" y="109" id="23479" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23469" index="5" uid="ccc1c921-0c9d-4665-b53c-eeab245f81c3" >
+<father id="23471" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23465" />
+<TGConnectingPoint num="1" id="23466" />
+<TGConnectingPoint num="2" id="23467" />
+<TGConnectingPoint num="3" id="23468" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23478" index="1" uid="b81148dc-8397-492d-a8ff-cfc46782f236" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23477" />
+<P1  x="407" y="144" id="23480" />
+<P2  x="407" y="190" id="23490" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23476" index="6" uid="b63eabf9-c7a8-47a6-a826-71a6802c3c99" >
+<father id="23478" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23472" />
+<TGConnectingPoint num="1" id="23473" />
+<TGConnectingPoint num="2" id="23474" />
+<TGConnectingPoint num="3" id="23475" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23489" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
+<cdparam x="357" y="114" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23479" />
+<TGConnectingPoint num="1" id="23480" />
+<TGConnectingPoint num="2" id="23481" />
+<TGConnectingPoint num="3" id="23482" />
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+<TGConnectingPoint num="6" id="23485" />
+<TGConnectingPoint num="7" id="23486" />
+<TGConnectingPoint num="8" id="23487" />
+<TGConnectingPoint num="9" id="23488" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23491" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23490" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23492" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23500" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23499" />
+<P1  x="407" y="70" id="23521" />
+<P2  x="407" y="110" id="23508" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23498" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="23500" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23494" />
+<TGConnectingPoint num="1" id="23495" />
+<TGConnectingPoint num="2" id="23496" />
+<TGConnectingPoint num="3" id="23497" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23506" />
+<P1  x="407" y="145" id="23509" />
+<P2  x="407" y="188" id="23519" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23505" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="23507" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23501" />
+<TGConnectingPoint num="1" id="23502" />
+<TGConnectingPoint num="2" id="23503" />
+<TGConnectingPoint num="3" id="23504" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23508" />
+<TGConnectingPoint num="1" id="23509" />
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+<TGConnectingPoint num="8" id="23516" />
+<TGConnectingPoint num="9" id="23517" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23520" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23519" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23522" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23521" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23529" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23528" />
+<P1  x="0" y="0" id="4103" />
+<P2  x="0" y="0" id="4105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23527" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="23529" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23523" />
+<TGConnectingPoint num="1" id="23524" />
+<TGConnectingPoint num="2" id="23525" />
+<TGConnectingPoint num="3" id="23526" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23536" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
+<cdparam x="407" y="147" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23535" />
+<P1  x="0" y="0" id="4106" />
+<P2  x="0" y="0" id="4123" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23534" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="23536" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23530" />
+<TGConnectingPoint num="1" id="23531" />
+<TGConnectingPoint num="2" id="23532" />
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+<hidden value="false" />
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+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
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+<Parameter id="nbCycles" />
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+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
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+
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+<hidden value="false" />
+<enabled value="true" />
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+<TGConnectingPoint num="2" id="23598" />
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23813" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23812" />
+<P1  x="407" y="162" id="23815" />
+<P2  x="407" y="224" id="23825" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23811" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="23813" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23807" />
+<TGConnectingPoint num="1" id="23808" />
+<TGConnectingPoint num="2" id="23809" />
+<TGConnectingPoint num="3" id="23810" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23824" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23814" />
+<TGConnectingPoint num="1" id="23815" />
+<TGConnectingPoint num="2" id="23816" />
+<TGConnectingPoint num="3" id="23817" />
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+<TGConnectingPoint num="8" id="23822" />
+<TGConnectingPoint num="9" id="23823" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23826" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23825" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23827" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23835" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23834" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23833" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="23835" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23829" />
+<TGConnectingPoint num="1" id="23830" />
+<TGConnectingPoint num="2" id="23831" />
+<TGConnectingPoint num="3" id="23832" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23842" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23841" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23840" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="23842" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23836" />
+<TGConnectingPoint num="1" id="23837" />
+<TGConnectingPoint num="2" id="23838" />
+<TGConnectingPoint num="3" id="23839" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23849" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23848" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23847" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="23849" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23843" />
+<TGConnectingPoint num="1" id="23844" />
+<TGConnectingPoint num="2" id="23845" />
+<TGConnectingPoint num="3" id="23846" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23856" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23855" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23850" />
+<TGConnectingPoint num="1" id="23851" />
+<TGConnectingPoint num="2" id="23852" />
+<TGConnectingPoint num="3" id="23853" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23863" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23862" />
+<P1  x="407" y="70" id="23884" />
+<P2  x="407" y="125" id="23871" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23861" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="23863" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23857" />
+<TGConnectingPoint num="1" id="23858" />
+<TGConnectingPoint num="2" id="23859" />
+<TGConnectingPoint num="3" id="23860" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23870" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23869" />
+<P1  x="407" y="160" id="23872" />
+<P2  x="407" y="224" id="23882" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23868" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="23870" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23864" />
+<TGConnectingPoint num="1" id="23865" />
+<TGConnectingPoint num="2" id="23866" />
+<TGConnectingPoint num="3" id="23867" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23881" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23871" />
+<TGConnectingPoint num="1" id="23872" />
+<TGConnectingPoint num="2" id="23873" />
+<TGConnectingPoint num="3" id="23874" />
+<TGConnectingPoint num="4" id="23875" />
+<TGConnectingPoint num="5" id="23876" />
+<TGConnectingPoint num="6" id="23877" />
+<TGConnectingPoint num="7" id="23878" />
+<TGConnectingPoint num="8" id="23879" />
+<TGConnectingPoint num="9" id="23880" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23883" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23882" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23885" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23884" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23892" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23891" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23890" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="23892" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23886" />
+<TGConnectingPoint num="1" id="23887" />
+<TGConnectingPoint num="2" id="23888" />
+<TGConnectingPoint num="3" id="23889" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23899" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23898" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23897" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="23899" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23893" />
+<TGConnectingPoint num="1" id="23894" />
+<TGConnectingPoint num="2" id="23895" />
+<TGConnectingPoint num="3" id="23896" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
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+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23906" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
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+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23900" />
+<TGConnectingPoint num="1" id="23901" />
+<TGConnectingPoint num="2" id="23902" />
+<TGConnectingPoint num="3" id="23903" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<P1  x="0" y="0" id="3727" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23907" />
+<TGConnectingPoint num="1" id="23908" />
+<TGConnectingPoint num="2" id="23909" />
+<TGConnectingPoint num="3" id="23910" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23920" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23919" />
+<P1  x="407" y="70" id="23941" />
+<P2  x="407" y="126" id="23928" />
+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23914" />
+<TGConnectingPoint num="1" id="23915" />
+<TGConnectingPoint num="2" id="23916" />
+<TGConnectingPoint num="3" id="23917" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23927" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23926" />
+<P1  x="407" y="161" id="23929" />
+<P2  x="407" y="224" id="23939" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23921" />
+<TGConnectingPoint num="1" id="23922" />
+<TGConnectingPoint num="2" id="23923" />
+<TGConnectingPoint num="3" id="23924" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23928" />
+<TGConnectingPoint num="1" id="23929" />
+<TGConnectingPoint num="2" id="23930" />
+<TGConnectingPoint num="3" id="23931" />
+<TGConnectingPoint num="4" id="23932" />
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+<TGConnectingPoint num="6" id="23934" />
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+<TGConnectingPoint num="8" id="23936" />
+<TGConnectingPoint num="9" id="23937" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23939" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23941" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<TGConnectingPoint num="1" id="23953" />
+<TGConnectingPoint num="2" id="23954" />
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+<P1  x="407" y="295" id="23980" />
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+<Point x="181" y="315" />
+<Point x="181" y="90" />
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+<AutomaticDrawing  data="true" />
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+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23947" />
+<TGConnectingPoint num="1" id="23948" />
+<TGConnectingPoint num="2" id="23949" />
+<TGConnectingPoint num="3" id="23950" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23963" />
+<P1  x="407" y="70" id="24074" />
+<P2  x="407" y="110" id="24002" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23958" />
+<TGConnectingPoint num="1" id="23959" />
+<TGConnectingPoint num="2" id="23960" />
+<TGConnectingPoint num="3" id="23961" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23970" />
+<P1  x="407" y="160" id="24039" />
+<P2  x="407" y="193" id="23990" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23965" />
+<TGConnectingPoint num="1" id="23966" />
+<TGConnectingPoint num="2" id="23967" />
+<TGConnectingPoint num="3" id="23968" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23977" />
+<P1  x="407" y="223" id="23991" />
+<P2  x="407" y="265" id="23979" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23972" />
+<TGConnectingPoint num="1" id="23973" />
+<TGConnectingPoint num="2" id="23974" />
+<TGConnectingPoint num="3" id="23975" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="23989" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
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+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23979" />
+<TGConnectingPoint num="1" id="23980" />
+<TGConnectingPoint num="2" id="23981" />
+<TGConnectingPoint num="3" id="23982" />
+<TGConnectingPoint num="4" id="23983" />
+<TGConnectingPoint num="5" id="23984" />
+<TGConnectingPoint num="6" id="23985" />
+<TGConnectingPoint num="7" id="23986" />
+<TGConnectingPoint num="8" id="23987" />
+<TGConnectingPoint num="9" id="23988" />
+</COMPONENT>
+
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+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23990" />
+<TGConnectingPoint num="1" id="23991" />
+<TGConnectingPoint num="2" id="23992" />
+<TGConnectingPoint num="3" id="23993" />
+<TGConnectingPoint num="4" id="23994" />
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+<TGConnectingPoint num="6" id="23996" />
+<TGConnectingPoint num="7" id="23997" />
+<TGConnectingPoint num="8" id="23998" />
+<TGConnectingPoint num="9" id="23999" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P1  x="407" y="70" id="24340" />
+<P2  x="407" y="110" id="24268" />
+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24224" />
+<TGConnectingPoint num="1" id="24225" />
+<TGConnectingPoint num="2" id="24226" />
+<TGConnectingPoint num="3" id="24227" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24237" index="2" uid="ba7ba4a7-d1d0-4862-ac85-1da2fc29b06c" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24236" />
+<P1  x="407" y="160" id="24305" />
+<P2  x="407" y="193" id="24256" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24235" index="14" uid="2b071846-7882-4b48-bece-f7e167430610" >
+<father id="24237" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24231" />
+<TGConnectingPoint num="1" id="24232" />
+<TGConnectingPoint num="2" id="24233" />
+<TGConnectingPoint num="3" id="24234" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24244" index="3" uid="6ed600ff-b5d0-4bd6-a725-280fa95e1a62" >
+<cdparam x="407" y="223" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24243" />
+<P1  x="407" y="223" id="24257" />
+<P2  x="407" y="265" id="24245" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24242" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="24244" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24238" />
+<TGConnectingPoint num="1" id="24239" />
+<TGConnectingPoint num="2" id="24240" />
+<TGConnectingPoint num="3" id="24241" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="24255" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24245" />
+<TGConnectingPoint num="1" id="24246" />
+<TGConnectingPoint num="2" id="24247" />
+<TGConnectingPoint num="3" id="24248" />
+<TGConnectingPoint num="4" id="24249" />
+<TGConnectingPoint num="5" id="24250" />
+<TGConnectingPoint num="6" id="24251" />
+<TGConnectingPoint num="7" id="24252" />
+<TGConnectingPoint num="8" id="24253" />
+<TGConnectingPoint num="9" id="24254" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="24266" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24256" />
+<TGConnectingPoint num="1" id="24257" />
+<TGConnectingPoint num="2" id="24258" />
+<TGConnectingPoint num="3" id="24259" />
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+<TGConnectingPoint num="7" id="24263" />
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+</COMPONENT>
+
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+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24267" />
+<TGConnectingPoint num="1" id="24268" />
+<TGConnectingPoint num="2" id="24269" />
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+<TGConnectingPoint num="65" id="24332" />
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+<TGConnectingPoint num="68" id="24335" />
+<TGConnectingPoint num="69" id="24336" />
+<TGConnectingPoint num="70" id="24337" />
+<TGConnectingPoint num="71" id="24338" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="24341" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24340" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="24343" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24342" />
+<P1  x="1003" y="771" id="24651" />
+<P2  x="1029" y="772" id="24773" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24345" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24344" />
+<P1  x="465" y="591" id="24454" />
+<P2  x="465" y="653" id="24607" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24347" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24346" />
+<P1  x="879" y="589" id="24413" />
+<P2  x="878" y="653" id="24648" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24349" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24348" />
+<P1  x="1297" y="589" id="24372" />
+<P2  x="1298" y="653" id="24566" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24351" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24350" />
+<P1  x="878" y="890" id="24653" />
+<P2  x="876" y="926" id="24507" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24353" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24352" />
+<P1  x="1298" y="891" id="24571" />
+<P2  x="1001" y="1040" id="24510" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24355" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24354" />
+<P1  x="1423" y="772" id="24569" />
+<P2  x="1448" y="773" id="24691" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24357" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24356" />
+<P1  x="590" y="772" id="24610" />
+<P2  x="619" y="773" id="24732" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24359" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24358" />
+<P1  x="465" y="891" id="24612" />
+<P2  x="751" y="1040" id="24509" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24361" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24360" />
+<P1  x="795" y="243" id="24825" />
+<P2  x="465" y="331" id="24449" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24363" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24362" />
+<P1  x="877" y="243" id="24817" />
+<P2  x="879" y="332" id="24408" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24365" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24364" />
+<P1  x="959" y="243" id="24826" />
+<P2  x="1297" y="329" id="24367" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="24406" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24366" />
+<TGConnectingPoint num="1" id="24367" />
+<TGConnectingPoint num="2" id="24368" />
+<TGConnectingPoint num="3" id="24369" />
+<TGConnectingPoint num="4" id="24370" />
+<TGConnectingPoint num="5" id="24371" />
+<TGConnectingPoint num="6" id="24372" />
+<TGConnectingPoint num="7" id="24373" />
+<TGConnectingPoint num="8" id="24374" />
+<TGConnectingPoint num="9" id="24375" />
+<TGConnectingPoint num="10" id="24376" />
+<TGConnectingPoint num="11" id="24377" />
+<TGConnectingPoint num="12" id="24378" />
+<TGConnectingPoint num="13" id="24379" />
+<TGConnectingPoint num="14" id="24380" />
+<TGConnectingPoint num="15" id="24381" />
+<TGConnectingPoint num="16" id="24382" />
+<TGConnectingPoint num="17" id="24383" />
+<TGConnectingPoint num="18" id="24384" />
+<TGConnectingPoint num="19" id="24385" />
+<TGConnectingPoint num="20" id="24386" />
+<TGConnectingPoint num="21" id="24387" />
+<TGConnectingPoint num="22" id="24388" />
+<TGConnectingPoint num="23" id="24389" />
+<TGConnectingPoint num="24" id="24390" />
+<TGConnectingPoint num="25" id="24391" />
+<TGConnectingPoint num="26" id="24392" />
+<TGConnectingPoint num="27" id="24393" />
+<TGConnectingPoint num="28" id="24394" />
+<TGConnectingPoint num="29" id="24395" />
+<TGConnectingPoint num="30" id="24396" />
+<TGConnectingPoint num="31" id="24397" />
+<TGConnectingPoint num="32" id="24398" />
+<TGConnectingPoint num="33" id="24399" />
+<TGConnectingPoint num="34" id="24400" />
+<TGConnectingPoint num="35" id="24401" />
+<TGConnectingPoint num="36" id="24402" />
+<TGConnectingPoint num="37" id="24403" />
+<TGConnectingPoint num="38" id="24404" />
+<TGConnectingPoint num="39" id="24405" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24447" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24407" />
+<TGConnectingPoint num="1" id="24408" />
+<TGConnectingPoint num="2" id="24409" />
+<TGConnectingPoint num="3" id="24410" />
+<TGConnectingPoint num="4" id="24411" />
+<TGConnectingPoint num="5" id="24412" />
+<TGConnectingPoint num="6" id="24413" />
+<TGConnectingPoint num="7" id="24414" />
+<TGConnectingPoint num="8" id="24415" />
+<TGConnectingPoint num="9" id="24416" />
+<TGConnectingPoint num="10" id="24417" />
+<TGConnectingPoint num="11" id="24418" />
+<TGConnectingPoint num="12" id="24419" />
+<TGConnectingPoint num="13" id="24420" />
+<TGConnectingPoint num="14" id="24421" />
+<TGConnectingPoint num="15" id="24422" />
+<TGConnectingPoint num="16" id="24423" />
+<TGConnectingPoint num="17" id="24424" />
+<TGConnectingPoint num="18" id="24425" />
+<TGConnectingPoint num="19" id="24426" />
+<TGConnectingPoint num="20" id="24427" />
+<TGConnectingPoint num="21" id="24428" />
+<TGConnectingPoint num="22" id="24429" />
+<TGConnectingPoint num="23" id="24430" />
+<TGConnectingPoint num="24" id="24431" />
+<TGConnectingPoint num="25" id="24432" />
+<TGConnectingPoint num="26" id="24433" />
+<TGConnectingPoint num="27" id="24434" />
+<TGConnectingPoint num="28" id="24435" />
+<TGConnectingPoint num="29" id="24436" />
+<TGConnectingPoint num="30" id="24437" />
+<TGConnectingPoint num="31" id="24438" />
+<TGConnectingPoint num="32" id="24439" />
+<TGConnectingPoint num="33" id="24440" />
+<TGConnectingPoint num="34" id="24441" />
+<TGConnectingPoint num="35" id="24442" />
+<TGConnectingPoint num="36" id="24443" />
+<TGConnectingPoint num="37" id="24444" />
+<TGConnectingPoint num="38" id="24445" />
+<TGConnectingPoint num="39" id="24446" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24488" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24448" />
+<TGConnectingPoint num="1" id="24449" />
+<TGConnectingPoint num="2" id="24450" />
+<TGConnectingPoint num="3" id="24451" />
+<TGConnectingPoint num="4" id="24452" />
+<TGConnectingPoint num="5" id="24453" />
+<TGConnectingPoint num="6" id="24454" />
+<TGConnectingPoint num="7" id="24455" />
+<TGConnectingPoint num="8" id="24456" />
+<TGConnectingPoint num="9" id="24457" />
+<TGConnectingPoint num="10" id="24458" />
+<TGConnectingPoint num="11" id="24459" />
+<TGConnectingPoint num="12" id="24460" />
+<TGConnectingPoint num="13" id="24461" />
+<TGConnectingPoint num="14" id="24462" />
+<TGConnectingPoint num="15" id="24463" />
+<TGConnectingPoint num="16" id="24464" />
+<TGConnectingPoint num="17" id="24465" />
+<TGConnectingPoint num="18" id="24466" />
+<TGConnectingPoint num="19" id="24467" />
+<TGConnectingPoint num="20" id="24468" />
+<TGConnectingPoint num="21" id="24469" />
+<TGConnectingPoint num="22" id="24470" />
+<TGConnectingPoint num="23" id="24471" />
+<TGConnectingPoint num="24" id="24472" />
+<TGConnectingPoint num="25" id="24473" />
+<TGConnectingPoint num="26" id="24474" />
+<TGConnectingPoint num="27" id="24475" />
+<TGConnectingPoint num="28" id="24476" />
+<TGConnectingPoint num="29" id="24477" />
+<TGConnectingPoint num="30" id="24478" />
+<TGConnectingPoint num="31" id="24479" />
+<TGConnectingPoint num="32" id="24480" />
+<TGConnectingPoint num="33" id="24481" />
+<TGConnectingPoint num="34" id="24482" />
+<TGConnectingPoint num="35" id="24483" />
+<TGConnectingPoint num="36" id="24484" />
+<TGConnectingPoint num="37" id="24485" />
+<TGConnectingPoint num="38" id="24486" />
+<TGConnectingPoint num="39" id="24487" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="24505" index="15" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="46" />
+<sizeparam width="221" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24489" />
+<TGConnectingPoint num="1" id="24490" />
+<TGConnectingPoint num="2" id="24491" />
+<TGConnectingPoint num="3" id="24492" />
+<TGConnectingPoint num="4" id="24493" />
+<TGConnectingPoint num="5" id="24494" />
+<TGConnectingPoint num="6" id="24495" />
+<TGConnectingPoint num="7" id="24496" />
+<TGConnectingPoint num="8" id="24497" />
+<TGConnectingPoint num="9" id="24498" />
+<TGConnectingPoint num="10" id="24499" />
+<TGConnectingPoint num="11" id="24500" />
+<TGConnectingPoint num="12" id="24501" />
+<TGConnectingPoint num="13" id="24502" />
+<TGConnectingPoint num="14" id="24503" />
+<TGConnectingPoint num="15" id="24504" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24546" index="16" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
+<cdparam x="751" y="926" />
+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24506" />
+<TGConnectingPoint num="1" id="24507" />
+<TGConnectingPoint num="2" id="24508" />
+<TGConnectingPoint num="3" id="24509" />
+<TGConnectingPoint num="4" id="24510" />
+<TGConnectingPoint num="5" id="24511" />
+<TGConnectingPoint num="6" id="24512" />
+<TGConnectingPoint num="7" id="24513" />
+<TGConnectingPoint num="8" id="24514" />
+<TGConnectingPoint num="9" id="24515" />
+<TGConnectingPoint num="10" id="24516" />
+<TGConnectingPoint num="11" id="24517" />
+<TGConnectingPoint num="12" id="24518" />
+<TGConnectingPoint num="13" id="24519" />
+<TGConnectingPoint num="14" id="24520" />
+<TGConnectingPoint num="15" id="24521" />
+<TGConnectingPoint num="16" id="24522" />
+<TGConnectingPoint num="17" id="24523" />
+<TGConnectingPoint num="18" id="24524" />
+<TGConnectingPoint num="19" id="24525" />
+<TGConnectingPoint num="20" id="24526" />
+<TGConnectingPoint num="21" id="24527" />
+<TGConnectingPoint num="22" id="24528" />
+<TGConnectingPoint num="23" id="24529" />
+<TGConnectingPoint num="24" id="24530" />
+<TGConnectingPoint num="25" id="24531" />
+<TGConnectingPoint num="26" id="24532" />
+<TGConnectingPoint num="27" id="24533" />
+<TGConnectingPoint num="28" id="24534" />
+<TGConnectingPoint num="29" id="24535" />
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+<TGConnectingPoint num="31" id="24537" />
+<TGConnectingPoint num="32" id="24538" />
+<TGConnectingPoint num="33" id="24539" />
+<TGConnectingPoint num="34" id="24540" />
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+<TGConnectingPoint num="36" id="24542" />
+<TGConnectingPoint num="37" id="24543" />
+<TGConnectingPoint num="38" id="24544" />
+<TGConnectingPoint num="39" id="24545" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="24555" index="17" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
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+<hidden value="false" />
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+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
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+<TGConnectingPoint num="5" id="24552" />
+<TGConnectingPoint num="6" id="24553" />
+<TGConnectingPoint num="7" id="24554" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
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+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
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+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
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+<hidden value="false" />
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+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24556" />
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+<TGConnectingPoint num="5" id="24561" />
+<TGConnectingPoint num="6" id="24562" />
+<TGConnectingPoint num="7" id="24563" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c, int k)" />
+<Signal value="out outputMessage(int t, int c)" />
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+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="motorsCommand" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24769" index="23" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="619" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24729" />
+<TGConnectingPoint num="1" id="24730" />
+<TGConnectingPoint num="2" id="24731" />
+<TGConnectingPoint num="3" id="24732" />
+<TGConnectingPoint num="4" id="24733" />
+<TGConnectingPoint num="5" id="24734" />
+<TGConnectingPoint num="6" id="24735" />
+<TGConnectingPoint num="7" id="24736" />
+<TGConnectingPoint num="8" id="24737" />
+<TGConnectingPoint num="9" id="24738" />
+<TGConnectingPoint num="10" id="24739" />
+<TGConnectingPoint num="11" id="24740" />
+<TGConnectingPoint num="12" id="24741" />
+<TGConnectingPoint num="13" id="24742" />
+<TGConnectingPoint num="14" id="24743" />
+<TGConnectingPoint num="15" id="24744" />
+<TGConnectingPoint num="16" id="24745" />
+<TGConnectingPoint num="17" id="24746" />
+<TGConnectingPoint num="18" id="24747" />
+<TGConnectingPoint num="19" id="24748" />
+<TGConnectingPoint num="20" id="24749" />
+<TGConnectingPoint num="21" id="24750" />
+<TGConnectingPoint num="22" id="24751" />
+<TGConnectingPoint num="23" id="24752" />
+<TGConnectingPoint num="24" id="24753" />
+<TGConnectingPoint num="25" id="24754" />
+<TGConnectingPoint num="26" id="24755" />
+<TGConnectingPoint num="27" id="24756" />
+<TGConnectingPoint num="28" id="24757" />
+<TGConnectingPoint num="29" id="24758" />
+<TGConnectingPoint num="30" id="24759" />
+<TGConnectingPoint num="31" id="24760" />
+<TGConnectingPoint num="32" id="24761" />
+<TGConnectingPoint num="33" id="24762" />
+<TGConnectingPoint num="34" id="24763" />
+<TGConnectingPoint num="35" id="24764" />
+<TGConnectingPoint num="36" id="24765" />
+<TGConnectingPoint num="37" id="24766" />
+<TGConnectingPoint num="38" id="24767" />
+<TGConnectingPoint num="39" id="24768" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24810" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1029" y="691" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24770" />
+<TGConnectingPoint num="1" id="24771" />
+<TGConnectingPoint num="2" id="24772" />
+<TGConnectingPoint num="3" id="24773" />
+<TGConnectingPoint num="4" id="24774" />
+<TGConnectingPoint num="5" id="24775" />
+<TGConnectingPoint num="6" id="24776" />
+<TGConnectingPoint num="7" id="24777" />
+<TGConnectingPoint num="8" id="24778" />
+<TGConnectingPoint num="9" id="24779" />
+<TGConnectingPoint num="10" id="24780" />
+<TGConnectingPoint num="11" id="24781" />
+<TGConnectingPoint num="12" id="24782" />
+<TGConnectingPoint num="13" id="24783" />
+<TGConnectingPoint num="14" id="24784" />
+<TGConnectingPoint num="15" id="24785" />
+<TGConnectingPoint num="16" id="24786" />
+<TGConnectingPoint num="17" id="24787" />
+<TGConnectingPoint num="18" id="24788" />
+<TGConnectingPoint num="19" id="24789" />
+<TGConnectingPoint num="20" id="24790" />
+<TGConnectingPoint num="21" id="24791" />
+<TGConnectingPoint num="22" id="24792" />
+<TGConnectingPoint num="23" id="24793" />
+<TGConnectingPoint num="24" id="24794" />
+<TGConnectingPoint num="25" id="24795" />
+<TGConnectingPoint num="26" id="24796" />
+<TGConnectingPoint num="27" id="24797" />
+<TGConnectingPoint num="28" id="24798" />
+<TGConnectingPoint num="29" id="24799" />
+<TGConnectingPoint num="30" id="24800" />
+<TGConnectingPoint num="31" id="24801" />
+<TGConnectingPoint num="32" id="24802" />
+<TGConnectingPoint num="33" id="24803" />
+<TGConnectingPoint num="34" id="24804" />
+<TGConnectingPoint num="35" id="24805" />
+<TGConnectingPoint num="36" id="24806" />
+<TGConnectingPoint num="37" id="24807" />
+<TGConnectingPoint num="38" id="24808" />
+<TGConnectingPoint num="39" id="24809" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24851" index="25" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="51" />
+<sizeparam width="328" height="192" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24811" />
+<TGConnectingPoint num="1" id="24812" />
+<TGConnectingPoint num="2" id="24813" />
+<TGConnectingPoint num="3" id="24814" />
+<TGConnectingPoint num="4" id="24815" />
+<TGConnectingPoint num="5" id="24816" />
+<TGConnectingPoint num="6" id="24817" />
+<TGConnectingPoint num="7" id="24818" />
+<TGConnectingPoint num="8" id="24819" />
+<TGConnectingPoint num="9" id="24820" />
+<TGConnectingPoint num="10" id="24821" />
+<TGConnectingPoint num="11" id="24822" />
+<TGConnectingPoint num="12" id="24823" />
+<TGConnectingPoint num="13" id="24824" />
+<TGConnectingPoint num="14" id="24825" />
+<TGConnectingPoint num="15" id="24826" />
+<TGConnectingPoint num="16" id="24827" />
+<TGConnectingPoint num="17" id="24828" />
+<TGConnectingPoint num="18" id="24829" />
+<TGConnectingPoint num="19" id="24830" />
+<TGConnectingPoint num="20" id="24831" />
+<TGConnectingPoint num="21" id="24832" />
+<TGConnectingPoint num="22" id="24833" />
+<TGConnectingPoint num="23" id="24834" />
+<TGConnectingPoint num="24" id="24835" />
+<TGConnectingPoint num="25" id="24836" />
+<TGConnectingPoint num="26" id="24837" />
+<TGConnectingPoint num="27" id="24838" />
+<TGConnectingPoint num="28" id="24839" />
+<TGConnectingPoint num="29" id="24840" />
+<TGConnectingPoint num="30" id="24841" />
+<TGConnectingPoint num="31" id="24842" />
+<TGConnectingPoint num="32" id="24843" />
+<TGConnectingPoint num="33" id="24844" />
+<TGConnectingPoint num="34" id="24845" />
+<TGConnectingPoint num="35" id="24846" />
+<TGConnectingPoint num="36" id="24847" />
+<TGConnectingPoint num="37" id="24848" />
+<TGConnectingPoint num="38" id="24849" />
+<TGConnectingPoint num="39" id="24850" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="24858" index="0" uid="dede73a6-0507-4c2d-9be0-5c655829f99b" >
+<cdparam x="614" y="7" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24857" />
+<P1  x="620" y="57" id="25139" />
+<P2  x="620" y="105" id="25067" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24856" index="24" uid="1c8b4bb8-8807-458b-98ec-8160e3369a3d" >
+<father id="24858" num="0" />
+<cdparam x="617" y="56" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24852" />
+<TGConnectingPoint num="1" id="24853" />
+<TGConnectingPoint num="2" id="24854" />
+<TGConnectingPoint num="3" id="24855" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24865" index="1" uid="f3fb991a-1dd4-4422-95ed-8f504d66d288" >
+<cdparam x="1033" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24864" />
+<P1  x="1038" y="238" id="24990" />
+<P2  x="1036" y="262" id="24978" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24863" index="25" uid="440e66fd-c436-4e2a-8dfb-c65fe50fa5b9" >
+<father id="24865" num="0" />
+<cdparam x="1026" y="249" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24859" />
+<TGConnectingPoint num="1" id="24860" />
+<TGConnectingPoint num="2" id="24861" />
+<TGConnectingPoint num="3" id="24862" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24872" index="2" uid="ef932124-ccab-48dd-b58a-66d40378d2d2" >
+<cdparam x="622" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24871" />
+<P1  x="620" y="237" id="25023" />
+<P2  x="618" y="264" id="25011" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24870" index="26" uid="c9e43699-7259-4baa-b8da-4b91871bccbc" >
+<father id="24872" num="0" />
+<cdparam x="622" y="254" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24866" />
+<TGConnectingPoint num="1" id="24867" />
+<TGConnectingPoint num="2" id="24868" />
+<TGConnectingPoint num="3" id="24869" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24879" index="3" uid="df40c864-498c-406d-9ad6-2458f80af67c" >
+<cdparam x="268" y="249" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24878" />
+<P1  x="257" y="237" id="25045" />
+<P2  x="255" y="266" id="25055" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24877" index="27" uid="28ac56e7-2a6a-4d83-a21d-a5706efdcce2" >
+<father id="24879" num="0" />
+<cdparam x="261" y="256" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24873" />
+<TGConnectingPoint num="1" id="24874" />
+<TGConnectingPoint num="2" id="24875" />
+<TGConnectingPoint num="3" id="24876" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24886" index="4" uid="d7b2dec9-1f5a-41dc-bb16-6cf3dfdc64e6" >
+<cdparam x="249" y="305" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24885" />
+<P1  x="255" y="296" id="25056" />
+<P2  x="255" y="322" id="25033" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24884" index="28" uid="f4289ec1-818a-4417-af00-d3fbfcb4b274" >
+<father id="24886" num="0" />
+<cdparam x="234" y="349" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24880" />
+<TGConnectingPoint num="1" id="24881" />
+<TGConnectingPoint num="2" id="24882" />
+<TGConnectingPoint num="3" id="24883" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24893" index="5" uid="b219789d-0eff-407c-94dd-ec3d58c6e5cf" >
+<cdparam x="715" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24892" />
+<P1  x="714" y="155" id="25105" />
+<P2  x="1038" y="208" id="24989" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24891" index="29" uid="e3abb03d-780c-4f42-ae27-35029280a5c0" >
+<father id="24893" num="0" />
+<cdparam x="720" y="164" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24887" />
+<TGConnectingPoint num="1" id="24888" />
+<TGConnectingPoint num="2" id="24889" />
+<TGConnectingPoint num="3" id="24890" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24900" index="6" uid="e532685e-3909-41b7-9eb3-3994fa87286e" >
+<cdparam x="598" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="24899" />
+<P1  x="620" y="155" id="25072" />
+<P2  x="620" y="207" id="25022" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="24898" index="30" uid="bfaa1fd6-3784-43a2-b93f-378cd62e7560" >
+<father id="24900" num="0" />
+<cdparam x="598" y="166" />
+<sizeparam width="10" height="15" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24894" />
+<TGConnectingPoint num="1" id="24895" />
+<TGConnectingPoint num="2" id="24896" />
+<TGConnectingPoint num="3" id="24897" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
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+<TGConnectingPoint num="0" id="25757" />
+</COMPONENT>
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<TGConnectingPoint num="0" id="25759" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<TGConnectingPoint num="0" id="25761" />
+</COMPONENT>
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25763" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AJoiningPlatoon" />
+<new d="false" />
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+</extraparam>
+</COMPONENT>
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+<cdparam x="2628" y="485" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<new d="false" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25927" />
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+<TGConnectingPoint num="15" id="25942" />
+<extraparam>
+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="215" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="25958" />
+<TGConnectingPoint num="15" id="25959" />
+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25961" />
+<TGConnectingPoint num="1" id="25962" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25972" />
+<TGConnectingPoint num="1" id="25973" />
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+<TGConnectingPoint num="9" id="25981" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25983" />
+<TGConnectingPoint num="1" id="25984" />
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+<TGConnectingPoint num="7" id="25990" />
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+<TGConnectingPoint num="9" id="25992" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25994" />
+<TGConnectingPoint num="1" id="25995" />
+<TGConnectingPoint num="2" id="25996" />
+<TGConnectingPoint num="3" id="25997" />
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+<TGConnectingPoint num="7" id="26001" />
+<TGConnectingPoint num="8" id="26002" />
+<TGConnectingPoint num="9" id="26003" />
+</COMPONENT>
+
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+<cdparam x="423" y="934" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="26005" />
+<TGConnectingPoint num="1" id="26006" />
+<TGConnectingPoint num="2" id="26007" />
+<TGConnectingPoint num="3" id="26008" />
+<TGConnectingPoint num="4" id="26009" />
+<TGConnectingPoint num="5" id="26010" />
+<TGConnectingPoint num="6" id="26011" />
+<TGConnectingPoint num="7" id="26012" />
+<TGConnectingPoint num="8" id="26013" />
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+<TGConnectingPoint num="10" id="26015" />
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+<TGConnectingPoint num="12" id="26017" />
+<TGConnectingPoint num="13" id="26018" />
+<TGConnectingPoint num="14" id="26019" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="26093" index="76" uid="1efcfa99-02d8-4f37-add7-d133d91826cb" >
+<cdparam x="2169" y="192" />
+<sizeparam width="230" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
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+</AVATARStateMachineDiagramPanel>
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
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+<probability value="" enabled="true"/>
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+<hidden value="false" />
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+<TGConnectingPoint num="2" id="28398" />
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+<hidden value="false" />
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+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
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+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
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+<Parameter id="roverID" />
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+<Parameter id="hasFollower" />
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+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
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+<new d="false" />
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<TGConnectingPoint num="70" id="28676" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="28680" index="16" uid="0b5b2963-4207-4c35-bfe3-060b480354b2" >
+<cdparam x="482" y="52" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28679" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28686" />
+<P1  x="0" y="0" id="3653" />
+<P2  x="0" y="0" id="3642" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="28687" num="0" />
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+<sizeparam width="50" height="25" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28681" />
+<TGConnectingPoint num="1" id="28682" />
+<TGConnectingPoint num="2" id="28683" />
+<TGConnectingPoint num="3" id="28684" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28694" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28693" />
+<P1  x="0" y="0" id="3643" />
+<P2  x="0" y="0" id="3640" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28692" index="8" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="28694" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="50" height="25" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28688" />
+<TGConnectingPoint num="1" id="28689" />
+<TGConnectingPoint num="2" id="28690" />
+<TGConnectingPoint num="3" id="28691" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28701" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28700" />
+<P1  x="407" y="70" id="28722" />
+<P2  x="407" y="127" id="28709" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28699" index="9" uid="9eb8d556-e1de-4833-9070-dcb456cb41f0" >
+<father id="28701" num="0" />
+<cdparam x="426" y="103" />
+<sizeparam width="50" height="25" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28695" />
+<TGConnectingPoint num="1" id="28696" />
+<TGConnectingPoint num="2" id="28697" />
+<TGConnectingPoint num="3" id="28698" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28708" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
+<cdparam x="446" y="171" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28707" />
+<P1  x="407" y="162" id="28710" />
+<P2  x="407" y="224" id="28720" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28706" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="28708" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="50" height="25" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28702" />
+<TGConnectingPoint num="1" id="28703" />
+<TGConnectingPoint num="2" id="28704" />
+<TGConnectingPoint num="3" id="28705" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="28719" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28709" />
+<TGConnectingPoint num="1" id="28710" />
+<TGConnectingPoint num="2" id="28711" />
+<TGConnectingPoint num="3" id="28712" />
+<TGConnectingPoint num="4" id="28713" />
+<TGConnectingPoint num="5" id="28714" />
+<TGConnectingPoint num="6" id="28715" />
+<TGConnectingPoint num="7" id="28716" />
+<TGConnectingPoint num="8" id="28717" />
+<TGConnectingPoint num="9" id="28718" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28720" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28722" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="28730" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28729" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28728" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="28730" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28724" />
+<TGConnectingPoint num="1" id="28725" />
+<TGConnectingPoint num="2" id="28726" />
+<TGConnectingPoint num="3" id="28727" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28737" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28736" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28735" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="28737" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28731" />
+<TGConnectingPoint num="1" id="28732" />
+<TGConnectingPoint num="2" id="28733" />
+<TGConnectingPoint num="3" id="28734" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28744" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28743" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28742" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="28744" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28738" />
+<TGConnectingPoint num="1" id="28739" />
+<TGConnectingPoint num="2" id="28740" />
+<TGConnectingPoint num="3" id="28741" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28751" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28750" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28749" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="28751" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28745" />
+<TGConnectingPoint num="1" id="28746" />
+<TGConnectingPoint num="2" id="28747" />
+<TGConnectingPoint num="3" id="28748" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28758" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28757" />
+<P1  x="407" y="70" id="28779" />
+<P2  x="407" y="125" id="28766" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28756" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="28758" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28752" />
+<TGConnectingPoint num="1" id="28753" />
+<TGConnectingPoint num="2" id="28754" />
+<TGConnectingPoint num="3" id="28755" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28765" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28764" />
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+<P2  x="407" y="224" id="28777" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28759" />
+<TGConnectingPoint num="1" id="28760" />
+<TGConnectingPoint num="2" id="28761" />
+<TGConnectingPoint num="3" id="28762" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
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+<infoparam name="stop state" value="null" />
+<new d="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="28779" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="28782" />
+<TGConnectingPoint num="2" id="28783" />
+<TGConnectingPoint num="3" id="28784" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="10001" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="28790" />
+<TGConnectingPoint num="3" id="28791" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="28797" />
+<TGConnectingPoint num="3" id="28798" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<TGConnectingPoint num="3" id="28805" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28809" />
+<TGConnectingPoint num="1" id="28810" />
+<TGConnectingPoint num="2" id="28811" />
+<TGConnectingPoint num="3" id="28812" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28821" />
+<P1  x="407" y="161" id="28824" />
+<P2  x="407" y="224" id="28834" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28820" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="28822" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28816" />
+<TGConnectingPoint num="1" id="28817" />
+<TGConnectingPoint num="2" id="28818" />
+<TGConnectingPoint num="3" id="28819" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28823" />
+<TGConnectingPoint num="1" id="28824" />
+<TGConnectingPoint num="2" id="28825" />
+<TGConnectingPoint num="3" id="28826" />
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+<TGConnectingPoint num="6" id="28829" />
+<TGConnectingPoint num="7" id="28830" />
+<TGConnectingPoint num="8" id="28831" />
+<TGConnectingPoint num="9" id="28832" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28834" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28836" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="28852" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28847" />
+<TGConnectingPoint num="1" id="28848" />
+<TGConnectingPoint num="2" id="28849" />
+<TGConnectingPoint num="3" id="28850" />
+<TGConnectingPoint num="4" id="28851" />
+<P1  x="407" y="295" id="28875" />
+<P2  x="357" y="110" id="28896" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="28840" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="28852" num="2" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="28841" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28842" />
+<TGConnectingPoint num="1" id="28843" />
+<TGConnectingPoint num="2" id="28844" />
+<TGConnectingPoint num="3" id="28845" />
+<extraparam>
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+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
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+
+</AVATARStateMachineDiagramPanel>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="3" id="28978" />
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="52" id="29214" />
+<TGConnectingPoint num="53" id="29215" />
+<TGConnectingPoint num="54" id="29216" />
+<TGConnectingPoint num="55" id="29217" />
+<TGConnectingPoint num="56" id="29218" />
+<TGConnectingPoint num="57" id="29219" />
+<TGConnectingPoint num="58" id="29220" />
+<TGConnectingPoint num="59" id="29221" />
+<TGConnectingPoint num="60" id="29222" />
+<TGConnectingPoint num="61" id="29223" />
+<TGConnectingPoint num="62" id="29224" />
+<TGConnectingPoint num="63" id="29225" />
+<TGConnectingPoint num="64" id="29226" />
+<TGConnectingPoint num="65" id="29227" />
+<TGConnectingPoint num="66" id="29228" />
+<TGConnectingPoint num="67" id="29229" />
+<TGConnectingPoint num="68" id="29230" />
+<TGConnectingPoint num="69" id="29231" />
+<TGConnectingPoint num="70" id="29232" />
+<TGConnectingPoint num="71" id="29233" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="29236" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29235" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Attack1" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="29238" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29237" />
+<P1  x="1003" y="771" id="29546" />
+<P2  x="1029" y="772" id="29668" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29240" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29239" />
+<P1  x="465" y="591" id="29349" />
+<P2  x="465" y="653" id="29502" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29242" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29241" />
+<P1  x="879" y="589" id="29308" />
+<P2  x="878" y="653" id="29543" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29244" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29243" />
+<P1  x="1297" y="589" id="29267" />
+<P2  x="1298" y="653" id="29461" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29246" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29245" />
+<P1  x="878" y="890" id="29548" />
+<P2  x="876" y="926" id="29402" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29248" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29247" />
+<P1  x="1298" y="891" id="29466" />
+<P2  x="1001" y="1040" id="29405" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29250" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29249" />
+<P1  x="1423" y="772" id="29464" />
+<P2  x="1448" y="773" id="29586" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29252" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29251" />
+<P1  x="590" y="772" id="29505" />
+<P2  x="619" y="773" id="29627" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29254" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29253" />
+<P1  x="465" y="891" id="29507" />
+<P2  x="751" y="1040" id="29404" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29256" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29255" />
+<P1  x="795" y="243" id="29720" />
+<P2  x="465" y="331" id="29344" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29258" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29257" />
+<P1  x="877" y="243" id="29712" />
+<P2  x="879" y="332" id="29303" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29260" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29259" />
+<P1  x="959" y="243" id="29721" />
+<P2  x="1297" y="329" id="29262" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="29301" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29261" />
+<TGConnectingPoint num="1" id="29262" />
+<TGConnectingPoint num="2" id="29263" />
+<TGConnectingPoint num="3" id="29264" />
+<TGConnectingPoint num="4" id="29265" />
+<TGConnectingPoint num="5" id="29266" />
+<TGConnectingPoint num="6" id="29267" />
+<TGConnectingPoint num="7" id="29268" />
+<TGConnectingPoint num="8" id="29269" />
+<TGConnectingPoint num="9" id="29270" />
+<TGConnectingPoint num="10" id="29271" />
+<TGConnectingPoint num="11" id="29272" />
+<TGConnectingPoint num="12" id="29273" />
+<TGConnectingPoint num="13" id="29274" />
+<TGConnectingPoint num="14" id="29275" />
+<TGConnectingPoint num="15" id="29276" />
+<TGConnectingPoint num="16" id="29277" />
+<TGConnectingPoint num="17" id="29278" />
+<TGConnectingPoint num="18" id="29279" />
+<TGConnectingPoint num="19" id="29280" />
+<TGConnectingPoint num="20" id="29281" />
+<TGConnectingPoint num="21" id="29282" />
+<TGConnectingPoint num="22" id="29283" />
+<TGConnectingPoint num="23" id="29284" />
+<TGConnectingPoint num="24" id="29285" />
+<TGConnectingPoint num="25" id="29286" />
+<TGConnectingPoint num="26" id="29287" />
+<TGConnectingPoint num="27" id="29288" />
+<TGConnectingPoint num="28" id="29289" />
+<TGConnectingPoint num="29" id="29290" />
+<TGConnectingPoint num="30" id="29291" />
+<TGConnectingPoint num="31" id="29292" />
+<TGConnectingPoint num="32" id="29293" />
+<TGConnectingPoint num="33" id="29294" />
+<TGConnectingPoint num="34" id="29295" />
+<TGConnectingPoint num="35" id="29296" />
+<TGConnectingPoint num="36" id="29297" />
+<TGConnectingPoint num="37" id="29298" />
+<TGConnectingPoint num="38" id="29299" />
+<TGConnectingPoint num="39" id="29300" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="29342" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29302" />
+<TGConnectingPoint num="1" id="29303" />
+<TGConnectingPoint num="2" id="29304" />
+<TGConnectingPoint num="3" id="29305" />
+<TGConnectingPoint num="4" id="29306" />
+<TGConnectingPoint num="5" id="29307" />
+<TGConnectingPoint num="6" id="29308" />
+<TGConnectingPoint num="7" id="29309" />
+<TGConnectingPoint num="8" id="29310" />
+<TGConnectingPoint num="9" id="29311" />
+<TGConnectingPoint num="10" id="29312" />
+<TGConnectingPoint num="11" id="29313" />
+<TGConnectingPoint num="12" id="29314" />
+<TGConnectingPoint num="13" id="29315" />
+<TGConnectingPoint num="14" id="29316" />
+<TGConnectingPoint num="15" id="29317" />
+<TGConnectingPoint num="16" id="29318" />
+<TGConnectingPoint num="17" id="29319" />
+<TGConnectingPoint num="18" id="29320" />
+<TGConnectingPoint num="19" id="29321" />
+<TGConnectingPoint num="20" id="29322" />
+<TGConnectingPoint num="21" id="29323" />
+<TGConnectingPoint num="22" id="29324" />
+<TGConnectingPoint num="23" id="29325" />
+<TGConnectingPoint num="24" id="29326" />
+<TGConnectingPoint num="25" id="29327" />
+<TGConnectingPoint num="26" id="29328" />
+<TGConnectingPoint num="27" id="29329" />
+<TGConnectingPoint num="28" id="29330" />
+<TGConnectingPoint num="29" id="29331" />
+<TGConnectingPoint num="30" id="29332" />
+<TGConnectingPoint num="31" id="29333" />
+<TGConnectingPoint num="32" id="29334" />
+<TGConnectingPoint num="33" id="29335" />
+<TGConnectingPoint num="34" id="29336" />
+<TGConnectingPoint num="35" id="29337" />
+<TGConnectingPoint num="36" id="29338" />
+<TGConnectingPoint num="37" id="29339" />
+<TGConnectingPoint num="38" id="29340" />
+<TGConnectingPoint num="39" id="29341" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5000" id="29383" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
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+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
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+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
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+A[] Environment3.gap &gt; 0
+" />
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+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
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+<TGConnectingPoint num="38" id="29439" />
+<TGConnectingPoint num="39" id="29440" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
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+<COMPONENT type="5005" id="29450" index="17" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
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+<hidden value="false" />
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+<TGConnectingPoint num="5" id="29447" />
+<TGConnectingPoint num="6" id="29448" />
+<TGConnectingPoint num="7" id="29449" />
+<extraparam>
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+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
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+<TGConnectingPoint num="5" id="29456" />
+<TGConnectingPoint num="6" id="29457" />
+<TGConnectingPoint num="7" id="29458" />
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+<Signal value="in inputMessage(int t, int c, int k)" />
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+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
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+
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30807" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="30810" index="62" uid="b0290ad2-9fe8-4103-a924-105ce670b1bc" >
+<cdparam x="2521" y="676" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30809" />
+</COMPONENT>
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+<COMPONENT type="5106" id="30883" index="63" uid="cf8d8307-f4df-4ee1-b41c-fcbc2007f03a" >
+<cdparam x="2449" y="582" />
+<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AJoiningPlatoon" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30811" />
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+<TGConnectingPoint num="70" id="30881" />
+<TGConnectingPoint num="71" id="30882" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="30899" index="64" uid="63dddf73-e71f-4e00-8ec5-5deee801cc90" >
+<cdparam x="2628" y="485" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30884" />
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+</COMPONENT>
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+<cdparam x="2202" y="582" />
+<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="ALeavingPlatoon" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30900" />
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+<TGConnectingPoint num="71" id="30971" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="26" y="37" />
+<sizeparam width="354" height="99" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30973" />
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+<TGConnectingPoint num="14" id="30987" />
+<TGConnectingPoint num="15" id="30988" />
+<extraparam>
+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="31006" index="67" uid="c387023d-115d-47c0-96a1-432f75cc16d0" >
+<cdparam x="226" y="1046" />
+<sizeparam width="215" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="30990" />
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+<TGConnectingPoint num="13" id="31003" />
+<TGConnectingPoint num="14" id="31004" />
+<TGConnectingPoint num="15" id="31005" />
+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="31017" index="68" uid="c3d8e7c6-9311-48bd-adaa-dad201393b46" >
+<cdparam x="1052" y="461" />
+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31007" />
+<TGConnectingPoint num="1" id="31008" />
+<TGConnectingPoint num="2" id="31009" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31018" />
+<TGConnectingPoint num="1" id="31019" />
+<TGConnectingPoint num="2" id="31020" />
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+<TGConnectingPoint num="7" id="31025" />
+<TGConnectingPoint num="8" id="31026" />
+<TGConnectingPoint num="9" id="31027" />
+</COMPONENT>
+
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+<cdparam x="360" y="289" />
+<sizeparam width="309" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31029" />
+<TGConnectingPoint num="1" id="31030" />
+<TGConnectingPoint num="2" id="31031" />
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+<TGConnectingPoint num="7" id="31036" />
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+<TGConnectingPoint num="9" id="31038" />
+</COMPONENT>
+
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+<cdparam x="380" y="323" />
+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31040" />
+<TGConnectingPoint num="1" id="31041" />
+<TGConnectingPoint num="2" id="31042" />
+<TGConnectingPoint num="3" id="31043" />
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+<TGConnectingPoint num="7" id="31047" />
+<TGConnectingPoint num="8" id="31048" />
+<TGConnectingPoint num="9" id="31049" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="31066" index="72" uid="e63655db-1116-4541-9f5b-058bac82afd4" >
+<cdparam x="423" y="934" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31051" />
+<TGConnectingPoint num="1" id="31052" />
+<TGConnectingPoint num="2" id="31053" />
+<TGConnectingPoint num="3" id="31054" />
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+<TGConnectingPoint num="5" id="31056" />
+<TGConnectingPoint num="6" id="31057" />
+<TGConnectingPoint num="7" id="31058" />
+<TGConnectingPoint num="8" id="31059" />
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+<TGConnectingPoint num="10" id="31061" />
+<TGConnectingPoint num="11" id="31062" />
+<TGConnectingPoint num="12" id="31063" />
+<TGConnectingPoint num="13" id="31064" />
+<TGConnectingPoint num="14" id="31065" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="31139" index="73" uid="1efcfa99-02d8-4f37-add7-d133d91826cb" >
+<cdparam x="2169" y="192" />
+<sizeparam width="230" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31067" />
+<TGConnectingPoint num="1" id="31068" />
+<TGConnectingPoint num="2" id="31069" />
+<TGConnectingPoint num="3" id="31070" />
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+<TGConnectingPoint num="10" id="31077" />
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+<TGConnectingPoint num="36" id="31103" />
+<TGConnectingPoint num="37" id="31104" />
+<TGConnectingPoint num="38" id="31105" />
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+<infoparam name="Send signal" value="toFollower(x, y)" />
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+</AVATARStateMachineDiagramPanel>
+
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
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+
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33449" />
+<TGConnectingPoint num="1" id="33450" />
+<TGConnectingPoint num="2" id="33451" />
+<TGConnectingPoint num="3" id="33452" />
+<TGConnectingPoint num="4" id="33453" />
+<TGConnectingPoint num="5" id="33454" />
+<TGConnectingPoint num="6" id="33455" />
+<TGConnectingPoint num="7" id="33456" />
+<TGConnectingPoint num="8" id="33457" />
+<TGConnectingPoint num="9" id="33458" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33461" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33460" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33463" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33462" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33470" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33469" />
+<P1  x="0" y="0" id="4103" />
+<P2  x="0" y="0" id="4105" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33468" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="33470" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33464" />
+<TGConnectingPoint num="1" id="33465" />
+<TGConnectingPoint num="2" id="33466" />
+<TGConnectingPoint num="3" id="33467" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33476" />
+<P1  x="0" y="0" id="4106" />
+<P2  x="0" y="0" id="4123" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33475" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="33477" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33471" />
+<TGConnectingPoint num="1" id="33472" />
+<TGConnectingPoint num="2" id="33473" />
+<TGConnectingPoint num="3" id="33474" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33484" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33483" />
+<P1  x="407" y="70" id="33505" />
+<P2  x="407" y="108" id="33492" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33482" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="33484" num="0" />
+<cdparam x="424" y="89" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33478" />
+<TGConnectingPoint num="1" id="33479" />
+<TGConnectingPoint num="2" id="33480" />
+<TGConnectingPoint num="3" id="33481" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33491" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33490" />
+<P1  x="407" y="143" id="33493" />
+<P2  x="407" y="188" id="33503" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33489" index="10" uid="a2791555-8e6a-4e68-b085-7dcdb2ff6295" >
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33485" />
+<TGConnectingPoint num="1" id="33486" />
+<TGConnectingPoint num="2" id="33487" />
+<TGConnectingPoint num="3" id="33488" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33502" index="4" uid="d63f3bcc-6746-4fb0-9b37-e16457ad5d5a" >
+<cdparam x="357" y="113" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33492" />
+<TGConnectingPoint num="1" id="33493" />
+<TGConnectingPoint num="2" id="33494" />
+<TGConnectingPoint num="3" id="33495" />
+<TGConnectingPoint num="4" id="33496" />
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+<TGConnectingPoint num="6" id="33498" />
+<TGConnectingPoint num="7" id="33499" />
+<TGConnectingPoint num="8" id="33500" />
+<TGConnectingPoint num="9" id="33501" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33504" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33503" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33506" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33505" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33521" index="0" uid="c673fe86-3bb2-4771-9c3e-a9314bb076d0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33516" />
+<TGConnectingPoint num="1" id="33517" />
+<TGConnectingPoint num="2" id="33518" />
+<TGConnectingPoint num="3" id="33519" />
+<TGConnectingPoint num="4" id="33520" />
+<P1  x="573" y="307" id="33587" />
+<P2  x="621" y="131" id="33654" />
+<Point x="573" y="327" />
+<Point x="685" y="327" />
+<Point x="685" y="111" />
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+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33511" />
+<TGConnectingPoint num="1" id="33512" />
+<TGConnectingPoint num="2" id="33513" />
+<TGConnectingPoint num="3" id="33514" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<TGConnectingPoint num="3" id="33534" />
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+<P1  x="407" y="424" id="33609" />
+<P2  x="357" y="131" id="33652" />
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+<Point x="275" y="444" />
+<Point x="275" y="111" />
+<Point x="337" y="111" />
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+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="33527" />
+<TGConnectingPoint num="2" id="33528" />
+<TGConnectingPoint num="3" id="33529" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<TGConnectingPoint num="70" id="33722" />
+<TGConnectingPoint num="71" id="33723" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="33726" index="16" uid="0b5b2963-4207-4c35-bfe3-060b480354b2" >
+<cdparam x="482" y="52" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33725" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33733" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33732" />
+<P1  x="0" y="0" id="3653" />
+<P2  x="0" y="0" id="3642" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33731" index="7" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="33733" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33727" />
+<TGConnectingPoint num="1" id="33728" />
+<TGConnectingPoint num="2" id="33729" />
+<TGConnectingPoint num="3" id="33730" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33740" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33739" />
+<P1  x="0" y="0" id="3643" />
+<P2  x="0" y="0" id="3640" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33738" index="8" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="33740" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33734" />
+<TGConnectingPoint num="1" id="33735" />
+<TGConnectingPoint num="2" id="33736" />
+<TGConnectingPoint num="3" id="33737" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33747" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33746" />
+<P1  x="407" y="70" id="33768" />
+<P2  x="407" y="127" id="33755" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33745" index="9" uid="9eb8d556-e1de-4833-9070-dcb456cb41f0" >
+<father id="33747" num="0" />
+<cdparam x="426" y="103" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33741" />
+<TGConnectingPoint num="1" id="33742" />
+<TGConnectingPoint num="2" id="33743" />
+<TGConnectingPoint num="3" id="33744" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33754" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
+<cdparam x="446" y="171" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33753" />
+<P1  x="407" y="162" id="33756" />
+<P2  x="407" y="224" id="33766" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33752" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="33754" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33748" />
+<TGConnectingPoint num="1" id="33749" />
+<TGConnectingPoint num="2" id="33750" />
+<TGConnectingPoint num="3" id="33751" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33765" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33755" />
+<TGConnectingPoint num="1" id="33756" />
+<TGConnectingPoint num="2" id="33757" />
+<TGConnectingPoint num="3" id="33758" />
+<TGConnectingPoint num="4" id="33759" />
+<TGConnectingPoint num="5" id="33760" />
+<TGConnectingPoint num="6" id="33761" />
+<TGConnectingPoint num="7" id="33762" />
+<TGConnectingPoint num="8" id="33763" />
+<TGConnectingPoint num="9" id="33764" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33767" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33766" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33769" index="6" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33768" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33776" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33775" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33774" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="33776" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33770" />
+<TGConnectingPoint num="1" id="33771" />
+<TGConnectingPoint num="2" id="33772" />
+<TGConnectingPoint num="3" id="33773" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33783" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33782" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33781" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="33783" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33777" />
+<TGConnectingPoint num="1" id="33778" />
+<TGConnectingPoint num="2" id="33779" />
+<TGConnectingPoint num="3" id="33780" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33790" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33789" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33788" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="33790" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33784" />
+<TGConnectingPoint num="1" id="33785" />
+<TGConnectingPoint num="2" id="33786" />
+<TGConnectingPoint num="3" id="33787" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33797" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33796" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33795" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="33797" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33791" />
+<TGConnectingPoint num="1" id="33792" />
+<TGConnectingPoint num="2" id="33793" />
+<TGConnectingPoint num="3" id="33794" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33804" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33803" />
+<P1  x="407" y="70" id="33825" />
+<P2  x="407" y="125" id="33812" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33802" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="33804" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33798" />
+<TGConnectingPoint num="1" id="33799" />
+<TGConnectingPoint num="2" id="33800" />
+<TGConnectingPoint num="3" id="33801" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33811" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33810" />
+<P1  x="407" y="160" id="33813" />
+<P2  x="407" y="224" id="33823" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33809" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="33811" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33805" />
+<TGConnectingPoint num="1" id="33806" />
+<TGConnectingPoint num="2" id="33807" />
+<TGConnectingPoint num="3" id="33808" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33822" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33812" />
+<TGConnectingPoint num="1" id="33813" />
+<TGConnectingPoint num="2" id="33814" />
+<TGConnectingPoint num="3" id="33815" />
+<TGConnectingPoint num="4" id="33816" />
+<TGConnectingPoint num="5" id="33817" />
+<TGConnectingPoint num="6" id="33818" />
+<TGConnectingPoint num="7" id="33819" />
+<TGConnectingPoint num="8" id="33820" />
+<TGConnectingPoint num="9" id="33821" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33824" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33823" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33826" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33825" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33833" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33832" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33831" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="33833" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33827" />
+<TGConnectingPoint num="1" id="33828" />
+<TGConnectingPoint num="2" id="33829" />
+<TGConnectingPoint num="3" id="33830" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33840" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33839" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33838" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="33840" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33834" />
+<TGConnectingPoint num="1" id="33835" />
+<TGConnectingPoint num="2" id="33836" />
+<TGConnectingPoint num="3" id="33837" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33847" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33846" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33845" index="11" uid="0c95aead-f787-42ef-81ed-073b7584a7e5" >
+<father id="33847" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33841" />
+<TGConnectingPoint num="1" id="33842" />
+<TGConnectingPoint num="2" id="33843" />
+<TGConnectingPoint num="3" id="33844" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33854" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33853" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33852" index="12" uid="64ac3868-1d9f-489e-becb-836c0180fcb5" >
+<father id="33854" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33848" />
+<TGConnectingPoint num="1" id="33849" />
+<TGConnectingPoint num="2" id="33850" />
+<TGConnectingPoint num="3" id="33851" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33861" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33860" />
+<P1  x="407" y="70" id="33882" />
+<P2  x="407" y="126" id="33869" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33859" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="33861" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33855" />
+<TGConnectingPoint num="1" id="33856" />
+<TGConnectingPoint num="2" id="33857" />
+<TGConnectingPoint num="3" id="33858" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33868" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33867" />
+<P1  x="407" y="161" id="33870" />
+<P2  x="407" y="224" id="33880" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33866" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="33868" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33862" />
+<TGConnectingPoint num="1" id="33863" />
+<TGConnectingPoint num="2" id="33864" />
+<TGConnectingPoint num="3" id="33865" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33879" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33869" />
+<TGConnectingPoint num="1" id="33870" />
+<TGConnectingPoint num="2" id="33871" />
+<TGConnectingPoint num="3" id="33872" />
+<TGConnectingPoint num="4" id="33873" />
+<TGConnectingPoint num="5" id="33874" />
+<TGConnectingPoint num="6" id="33875" />
+<TGConnectingPoint num="7" id="33876" />
+<TGConnectingPoint num="8" id="33877" />
+<TGConnectingPoint num="9" id="33878" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33881" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33880" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33883" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33882" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33898" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
+<cdparam x="407" y="295" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33893" />
+<TGConnectingPoint num="1" id="33894" />
+<TGConnectingPoint num="2" id="33895" />
+<TGConnectingPoint num="3" id="33896" />
+<TGConnectingPoint num="4" id="33897" />
+<P1  x="407" y="295" id="33921" />
+<P2  x="357" y="110" id="33942" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33884" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="33898" num="0" />
+<cdparam x="407" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33885" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="33898" num="1" />
+<cdparam x="181" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33886" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="33898" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33887" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
+<father id="33898" num="3" />
+<cdparam x="337" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33892" index="12" uid="801dd9e9-d72c-4d3b-9eac-6ef62879a3f8" >
+<father id="33898" num="4" />
+<cdparam x="382" y="202" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33888" />
+<TGConnectingPoint num="1" id="33889" />
+<TGConnectingPoint num="2" id="33890" />
+<TGConnectingPoint num="3" id="33891" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33905" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33904" />
+<P1  x="407" y="70" id="34015" />
+<P2  x="407" y="110" id="33943" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33903" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="33905" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33899" />
+<TGConnectingPoint num="1" id="33900" />
+<TGConnectingPoint num="2" id="33901" />
+<TGConnectingPoint num="3" id="33902" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+
+</AVATARStateMachineDiagramPanel>
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+<delayDistributionLaw value="0" enabled="true"/>
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+<hidden value="false" />
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+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
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+<hidden value="false" />
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+</COMPONENT>
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+<new d="false" />
+<TGConnectingPoint num="0" id="34148" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<AutomaticDrawing  data="true" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
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+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
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+<extraparam>
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+</COMPONENT>
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34281" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Attack1_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="Rover1;Rover2;Rover3;EnvironmentFusion;EnvironmentLibrary;Rover;Environment1;Environment3;Environment2;ComputeVar1;ComputeVar3;ComputeVar2;Network;" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="34284" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34283" />
+<P1  x="1003" y="771" id="34592" />
+<P2  x="1029" y="772" id="34714" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34286" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34285" />
+<P1  x="465" y="591" id="34395" />
+<P2  x="465" y="653" id="34548" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34288" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34287" />
+<P1  x="879" y="589" id="34354" />
+<P2  x="878" y="653" id="34589" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34290" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34289" />
+<P1  x="1297" y="589" id="34313" />
+<P2  x="1298" y="653" id="34507" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34292" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34291" />
+<P1  x="878" y="890" id="34594" />
+<P2  x="876" y="926" id="34448" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34294" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34293" />
+<P1  x="1298" y="891" id="34512" />
+<P2  x="1001" y="1040" id="34451" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34296" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34295" />
+<P1  x="1423" y="772" id="34510" />
+<P2  x="1448" y="773" id="34632" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34298" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34297" />
+<P1  x="590" y="772" id="34551" />
+<P2  x="619" y="773" id="34673" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34300" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34299" />
+<P1  x="465" y="891" id="34553" />
+<P2  x="751" y="1040" id="34450" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34302" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34301" />
+<P1  x="795" y="243" id="34766" />
+<P2  x="465" y="331" id="34390" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34304" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34303" />
+<P1  x="877" y="243" id="34758" />
+<P2  x="879" y="332" id="34349" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34306" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34305" />
+<P1  x="959" y="243" id="34767" />
+<P2  x="1297" y="329" id="34308" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="34347" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34307" />
+<TGConnectingPoint num="1" id="34308" />
+<TGConnectingPoint num="2" id="34309" />
+<TGConnectingPoint num="3" id="34310" />
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+<TGConnectingPoint num="5" id="34312" />
+<TGConnectingPoint num="6" id="34313" />
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+<TGConnectingPoint num="13" id="34320" />
+<TGConnectingPoint num="14" id="34321" />
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+<TGConnectingPoint num="37" id="34344" />
+<TGConnectingPoint num="38" id="34345" />
+<TGConnectingPoint num="39" id="34346" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34388" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34348" />
+<TGConnectingPoint num="1" id="34349" />
+<TGConnectingPoint num="2" id="34350" />
+<TGConnectingPoint num="3" id="34351" />
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+<TGConnectingPoint num="5" id="34353" />
+<TGConnectingPoint num="6" id="34354" />
+<TGConnectingPoint num="7" id="34355" />
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+<TGConnectingPoint num="15" id="34363" />
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+<TGConnectingPoint num="20" id="34368" />
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+<TGConnectingPoint num="22" id="34370" />
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+<TGConnectingPoint num="25" id="34373" />
+<TGConnectingPoint num="26" id="34374" />
+<TGConnectingPoint num="27" id="34375" />
+<TGConnectingPoint num="28" id="34376" />
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+<TGConnectingPoint num="31" id="34379" />
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+<TGConnectingPoint num="36" id="34384" />
+<TGConnectingPoint num="37" id="34385" />
+<TGConnectingPoint num="38" id="34386" />
+<TGConnectingPoint num="39" id="34387" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34429" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34389" />
+<TGConnectingPoint num="1" id="34390" />
+<TGConnectingPoint num="2" id="34391" />
+<TGConnectingPoint num="3" id="34392" />
+<TGConnectingPoint num="4" id="34393" />
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+<TGConnectingPoint num="6" id="34395" />
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+<TGConnectingPoint num="11" id="34400" />
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+<TGConnectingPoint num="13" id="34402" />
+<TGConnectingPoint num="14" id="34403" />
+<TGConnectingPoint num="15" id="34404" />
+<TGConnectingPoint num="16" id="34405" />
+<TGConnectingPoint num="17" id="34406" />
+<TGConnectingPoint num="18" id="34407" />
+<TGConnectingPoint num="19" id="34408" />
+<TGConnectingPoint num="20" id="34409" />
+<TGConnectingPoint num="21" id="34410" />
+<TGConnectingPoint num="22" id="34411" />
+<TGConnectingPoint num="23" id="34412" />
+<TGConnectingPoint num="24" id="34413" />
+<TGConnectingPoint num="25" id="34414" />
+<TGConnectingPoint num="26" id="34415" />
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+<TGConnectingPoint num="30" id="34419" />
+<TGConnectingPoint num="31" id="34420" />
+<TGConnectingPoint num="32" id="34421" />
+<TGConnectingPoint num="33" id="34422" />
+<TGConnectingPoint num="34" id="34423" />
+<TGConnectingPoint num="35" id="34424" />
+<TGConnectingPoint num="36" id="34425" />
+<TGConnectingPoint num="37" id="34426" />
+<TGConnectingPoint num="38" id="34427" />
+<TGConnectingPoint num="39" id="34428" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="34446" index="15" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="46" />
+<sizeparam width="221" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap &gt; 0
+A[] Environment3.gap &gt; 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34430" />
+<TGConnectingPoint num="1" id="34431" />
+<TGConnectingPoint num="2" id="34432" />
+<TGConnectingPoint num="3" id="34433" />
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+<TGConnectingPoint num="13" id="34443" />
+<TGConnectingPoint num="14" id="34444" />
+<TGConnectingPoint num="15" id="34445" />
+<extraparam>
+<Line value="A[] Environment2.gap &gt; 0" />
+<Line value="A[] Environment3.gap &gt; 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34487" index="16" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
+<cdparam x="751" y="926" />
+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34447" />
+<TGConnectingPoint num="1" id="34448" />
+<TGConnectingPoint num="2" id="34449" />
+<TGConnectingPoint num="3" id="34450" />
+<TGConnectingPoint num="4" id="34451" />
+<TGConnectingPoint num="5" id="34452" />
+<TGConnectingPoint num="6" id="34453" />
+<TGConnectingPoint num="7" id="34454" />
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+<TGConnectingPoint num="17" id="34464" />
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+<TGConnectingPoint num="21" id="34468" />
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+<TGConnectingPoint num="25" id="34472" />
+<TGConnectingPoint num="26" id="34473" />
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+<TGConnectingPoint num="28" id="34475" />
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+<TGConnectingPoint num="30" id="34477" />
+<TGConnectingPoint num="31" id="34478" />
+<TGConnectingPoint num="32" id="34479" />
+<TGConnectingPoint num="33" id="34480" />
+<TGConnectingPoint num="34" id="34481" />
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+<TGConnectingPoint num="36" id="34483" />
+<TGConnectingPoint num="37" id="34484" />
+<TGConnectingPoint num="38" id="34485" />
+<TGConnectingPoint num="39" id="34486" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="34496" index="17" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34488" />
+<TGConnectingPoint num="1" id="34489" />
+<TGConnectingPoint num="2" id="34490" />
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+<TGConnectingPoint num="5" id="34493" />
+<TGConnectingPoint num="6" id="34494" />
+<TGConnectingPoint num="7" id="34495" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="34505" index="18" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
+<cdparam x="31" y="339" />
+<sizeparam width="250" height="248" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34497" />
+<TGConnectingPoint num="1" id="34498" />
+<TGConnectingPoint num="2" id="34499" />
+<TGConnectingPoint num="3" id="34500" />
+<TGConnectingPoint num="4" id="34501" />
+<TGConnectingPoint num="5" id="34502" />
+<TGConnectingPoint num="6" id="34503" />
+<TGConnectingPoint num="7" id="34504" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c, int k)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lastLegitimateMessageType" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lastLegitimateMessageContent" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringAngle" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetSpeed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yawError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lateralError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="motorsCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosHeading" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinHeading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sensorUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="networkUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34546" index="19" uid="53950085-dae1-40d4-9d5d-655f3fd05f63" >
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+<sizeparam width="250" height="238" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Environment1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34506" />
+<TGConnectingPoint num="1" id="34507" />
+<TGConnectingPoint num="2" id="34508" />
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+<TGConnectingPoint num="38" id="34544" />
+<TGConnectingPoint num="39" id="34545" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="gap" value="60" type="8" typeOther="" />
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+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
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+<new d="false" />
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+<TGConnectingPoint num="39" id="34586" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34628" index="21" uid="53950085-dae1-40d4-9d5d-655f3fd05f63" >
+<cdparam x="753" y="653" />
+<sizeparam width="250" height="237" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Environment2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34588" />
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+<Attribute access="0" var="0" id="x" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
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+<blockType data="block" color="-4072719" />
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+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
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+<Signal value="out variation(int xvar, int yvar)" attached="true" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<infoparam name="Block0" value="Network" />
+<new d="false" />
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+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leaderID" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="3" id="34800" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+         |                                 |
+platoon lane    joining/leaving rovers lane
+       (1)                              (2)
+    y = 80                         y = 0 
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<Line value="We consider two lanes :" />
+<Line value="         |                                 |" />
+<Line value="platoon lane    joining/leaving rovers lane" />
+<Line value="       (1)                              (2)" />
+<Line value="    y = 80                         y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
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+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="36116" />
+<TGConnectingPoint num="1" id="36117" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="36127" />
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
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+
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="2" id="38513" />
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<AutomaticDrawing  data="true" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="0" id="38518" />
+<TGConnectingPoint num="1" id="38519" />
+<TGConnectingPoint num="2" id="38520" />
+<TGConnectingPoint num="3" id="38521" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38525" />
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+<TGConnectingPoint num="8" id="38533" />
+<TGConnectingPoint num="9" id="38534" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38536" />
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38538" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<extraparam>
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+</extraparam>
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<TGConnectingPoint num="1" id="38562" />
+<TGConnectingPoint num="2" id="38563" />
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+<extraparam>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38579" />
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38581" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="38588" />
+<TGConnectingPoint num="2" id="38589" />
+<TGConnectingPoint num="3" id="38590" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5100" id="38802" index="16" uid="0b5b2963-4207-4c35-bfe3-060b480354b2" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38801" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1  x="0" y="0" id="3653" />
+<P2  x="0" y="0" id="3642" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38803" />
+<TGConnectingPoint num="1" id="38804" />
+<TGConnectingPoint num="2" id="38805" />
+<TGConnectingPoint num="3" id="38806" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38815" />
+<P1  x="0" y="0" id="3643" />
+<P2  x="0" y="0" id="3640" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38814" index="8" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="38816" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38810" />
+<TGConnectingPoint num="1" id="38811" />
+<TGConnectingPoint num="2" id="38812" />
+<TGConnectingPoint num="3" id="38813" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38823" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38822" />
+<P1  x="407" y="70" id="38844" />
+<P2  x="407" y="127" id="38831" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38821" index="9" uid="9eb8d556-e1de-4833-9070-dcb456cb41f0" >
+<father id="38823" num="0" />
+<cdparam x="426" y="103" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38817" />
+<TGConnectingPoint num="1" id="38818" />
+<TGConnectingPoint num="2" id="38819" />
+<TGConnectingPoint num="3" id="38820" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38830" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
+<cdparam x="446" y="171" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38829" />
+<P1  x="407" y="162" id="38832" />
+<P2  x="407" y="224" id="38842" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38828" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="38830" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38824" />
+<TGConnectingPoint num="1" id="38825" />
+<TGConnectingPoint num="2" id="38826" />
+<TGConnectingPoint num="3" id="38827" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="38841" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38831" />
+<TGConnectingPoint num="1" id="38832" />
+<TGConnectingPoint num="2" id="38833" />
+<TGConnectingPoint num="3" id="38834" />
+<TGConnectingPoint num="4" id="38835" />
+<TGConnectingPoint num="5" id="38836" />
+<TGConnectingPoint num="6" id="38837" />
+<TGConnectingPoint num="7" id="38838" />
+<TGConnectingPoint num="8" id="38839" />
+<TGConnectingPoint num="9" id="38840" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38842" />
+</COMPONENT>
+
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38844" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="38852" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38851" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38850" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="38852" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38846" />
+<TGConnectingPoint num="1" id="38847" />
+<TGConnectingPoint num="2" id="38848" />
+<TGConnectingPoint num="3" id="38849" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38859" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38858" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38857" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="38859" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38853" />
+<TGConnectingPoint num="1" id="38854" />
+<TGConnectingPoint num="2" id="38855" />
+<TGConnectingPoint num="3" id="38856" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38866" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38865" />
+<P1  x="0" y="0" id="3696" />
+<P2  x="0" y="0" id="3683" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38864" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="38866" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38860" />
+<TGConnectingPoint num="1" id="38861" />
+<TGConnectingPoint num="2" id="38862" />
+<TGConnectingPoint num="3" id="38863" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38873" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38872" />
+<P1  x="0" y="0" id="3684" />
+<P2  x="0" y="0" id="3694" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38871" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="38873" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38867" />
+<TGConnectingPoint num="1" id="38868" />
+<TGConnectingPoint num="2" id="38869" />
+<TGConnectingPoint num="3" id="38870" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38880" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38879" />
+<P1  x="407" y="70" id="38901" />
+<P2  x="407" y="125" id="38888" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38878" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="38880" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38874" />
+<TGConnectingPoint num="1" id="38875" />
+<TGConnectingPoint num="2" id="38876" />
+<TGConnectingPoint num="3" id="38877" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38887" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38886" />
+<P1  x="407" y="160" id="38889" />
+<P2  x="407" y="224" id="38899" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38885" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="38887" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38881" />
+<TGConnectingPoint num="1" id="38882" />
+<TGConnectingPoint num="2" id="38883" />
+<TGConnectingPoint num="3" id="38884" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="38898" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38888" />
+<TGConnectingPoint num="1" id="38889" />
+<TGConnectingPoint num="2" id="38890" />
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+<TGConnectingPoint num="8" id="38896" />
+<TGConnectingPoint num="9" id="38897" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="38900" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38899" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38901" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38908" />
+<P1  x="0" y="0" id="9998" />
+<P2  x="0" y="0" id="10000" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38907" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="38909" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38903" />
+<TGConnectingPoint num="1" id="38904" />
+<TGConnectingPoint num="2" id="38905" />
+<TGConnectingPoint num="3" id="38906" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38916" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38915" />
+<P1  x="0" y="0" id="10001" />
+<P2  x="0" y="0" id="10018" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38914" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="38916" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38910" />
+<TGConnectingPoint num="1" id="38911" />
+<TGConnectingPoint num="2" id="38912" />
+<TGConnectingPoint num="3" id="38913" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38923" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38922" />
+<P1  x="0" y="0" id="3739" />
+<P2  x="0" y="0" id="3726" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="38923" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38917" />
+<TGConnectingPoint num="1" id="38918" />
+<TGConnectingPoint num="2" id="38919" />
+<TGConnectingPoint num="3" id="38920" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38930" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38929" />
+<P1  x="0" y="0" id="3727" />
+<P2  x="0" y="0" id="3737" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
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+<father id="38930" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38924" />
+<TGConnectingPoint num="1" id="38925" />
+<TGConnectingPoint num="2" id="38926" />
+<TGConnectingPoint num="3" id="38927" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38937" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38936" />
+<P1  x="407" y="70" id="38958" />
+<P2  x="407" y="126" id="38945" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38935" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="38937" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38931" />
+<TGConnectingPoint num="1" id="38932" />
+<TGConnectingPoint num="2" id="38933" />
+<TGConnectingPoint num="3" id="38934" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38944" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38943" />
+<P1  x="407" y="161" id="38946" />
+<P2  x="407" y="224" id="38956" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38942" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="38944" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38938" />
+<TGConnectingPoint num="1" id="38939" />
+<TGConnectingPoint num="2" id="38940" />
+<TGConnectingPoint num="3" id="38941" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="38955" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38945" />
+<TGConnectingPoint num="1" id="38946" />
+<TGConnectingPoint num="2" id="38947" />
+<TGConnectingPoint num="3" id="38948" />
+<TGConnectingPoint num="4" id="38949" />
+<TGConnectingPoint num="5" id="38950" />
+<TGConnectingPoint num="6" id="38951" />
+<TGConnectingPoint num="7" id="38952" />
+<TGConnectingPoint num="8" id="38953" />
+<TGConnectingPoint num="9" id="38954" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="38957" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38956" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="38959" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38958" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="38974" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38969" />
+<TGConnectingPoint num="1" id="38970" />
+<TGConnectingPoint num="2" id="38971" />
+<TGConnectingPoint num="3" id="38972" />
+<TGConnectingPoint num="4" id="38973" />
+<P1  x="407" y="295" id="38997" />
+<P2  x="357" y="110" id="39018" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing  data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38960" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="38974" num="0" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="38961" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="38974" num="1" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="38962" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="38974" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
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+<TGConnectingPoint num="18" id="39302" />
+<TGConnectingPoint num="19" id="39303" />
+<TGConnectingPoint num="20" id="39304" />
+<TGConnectingPoint num="21" id="39305" />
+<TGConnectingPoint num="22" id="39306" />
+<TGConnectingPoint num="23" id="39307" />
+<TGConnectingPoint num="24" id="39308" />
+<TGConnectingPoint num="25" id="39309" />
+<TGConnectingPoint num="26" id="39310" />
+<TGConnectingPoint num="27" id="39311" />
+<TGConnectingPoint num="28" id="39312" />
+<TGConnectingPoint num="29" id="39313" />
+<TGConnectingPoint num="30" id="39314" />
+<TGConnectingPoint num="31" id="39315" />
+<TGConnectingPoint num="32" id="39316" />
+<TGConnectingPoint num="33" id="39317" />
+<TGConnectingPoint num="34" id="39318" />
+<TGConnectingPoint num="35" id="39319" />
+<TGConnectingPoint num="36" id="39320" />
+<TGConnectingPoint num="37" id="39321" />
+<TGConnectingPoint num="38" id="39322" />
+<TGConnectingPoint num="39" id="39323" />
+<TGConnectingPoint num="40" id="39324" />
+<TGConnectingPoint num="41" id="39325" />
+<TGConnectingPoint num="42" id="39326" />
+<TGConnectingPoint num="43" id="39327" />
+<TGConnectingPoint num="44" id="39328" />
+<TGConnectingPoint num="45" id="39329" />
+<TGConnectingPoint num="46" id="39330" />
+<TGConnectingPoint num="47" id="39331" />
+<TGConnectingPoint num="48" id="39332" />
+<TGConnectingPoint num="49" id="39333" />
+<TGConnectingPoint num="50" id="39334" />
+<TGConnectingPoint num="51" id="39335" />
+<TGConnectingPoint num="52" id="39336" />
+<TGConnectingPoint num="53" id="39337" />
+<TGConnectingPoint num="54" id="39338" />
+<TGConnectingPoint num="55" id="39339" />
+<TGConnectingPoint num="56" id="39340" />
+<TGConnectingPoint num="57" id="39341" />
+<TGConnectingPoint num="58" id="39342" />
+<TGConnectingPoint num="59" id="39343" />
+<TGConnectingPoint num="60" id="39344" />
+<TGConnectingPoint num="61" id="39345" />
+<TGConnectingPoint num="62" id="39346" />
+<TGConnectingPoint num="63" id="39347" />
+<TGConnectingPoint num="64" id="39348" />
+<TGConnectingPoint num="65" id="39349" />
+<TGConnectingPoint num="66" id="39350" />
+<TGConnectingPoint num="67" id="39351" />
+<TGConnectingPoint num="68" id="39352" />
+<TGConnectingPoint num="69" id="39353" />
+<TGConnectingPoint num="70" id="39354" />
+<TGConnectingPoint num="71" id="39355" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="39358" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39357" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/src/main/java/ui/window/JDialogProverifVerification.java b/src/main/java/ui/window/JDialogProverifVerification.java
index f7fc94a719..a43944507d 100644
--- a/src/main/java/ui/window/JDialogProverifVerification.java
+++ b/src/main/java/ui/window/JDialogProverifVerification.java
@@ -1094,7 +1094,7 @@ public class JDialogProverifVerification extends JDialog implements ActionListen
         addComponentListener(new ComponentAdapter() {
             @Override
             public void componentResized(ComponentEvent e) {
-                intermediate.setDividerLocation(0.4);
+                intermediate.setDividerLocation(0.6);
             }
         });
         c.add(intermediate, BorderLayout.CENTER);
-- 
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