120 50 80 80 auto auto true 1094852101 602778423 true Actor 60 35 635 570 true 315 55 95 60 auto auto true 1837101753 497116998 true Goal 602778423 0 195 180 95 60 auto auto true 243872482 1060143016 true Task 602778423 0 455 160 95 60 auto auto true 1429884239 160141755 true Task 602778423 0 105 310 95 60 auto auto true 888109912 232671530 true Task 602778423 0 225 325 95 60 auto auto true 1445639756 702922305 true Goal 602778423 0 230 435 95 60 auto auto true 1574448654 713684109 true Task 602778423 0 540 325 95 60 auto auto true 146108575 581894497 true Task 602778423 0 395 310 95 60 auto auto true 1413919648 746176777 true Task 602778423 0 320 225 95 60 auto auto true 1952699817 214015270 true SoftGoal 602778423 0 480 455 95 60 auto auto true 2036630029 1284083657 true SoftGoal 602778423 0 360 420 95 60 auto auto true 1806169444 1487693622 true SoftGoal 602778423 0 1087344615 362159831 529 375 64 103 0 -0.5 0 581894497 1284083657 true Contribution 547975372 566804699 406 360 46 81 0 0.0 0 746176777 1487693622 true Contribution 1560216847 408374919 310 443 77 36 0 -0.5 0 713684109 1487693622 true Contribution 2103141287 1394251336 397 196 90 58 0 0.0 0 160141755 214015270 true Contribution 169629239 1141612497 232 105 150 91 0 1060143016 497116998 true Composition 1967654336 1217991852 352 105 170 71 0 160141755 497116998 true Composition 1125053114 601189174 142 230 120 96 0 232671530 1060143016 true Composition 367718802 2039388254 232 230 60 111 0 702922305 1060143016 true Composition 509055641 1174753543 262 375 35 76 0 713684109 702922305 true Composition 1121987532 2121007723 492 210 115 131 0 581894497 160141755 true Composition 566207148 2123267224 432 210 90 116 0 746176777 160141755 true Composition Actor Robot false StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement

Goal Location is Identified OR achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Task Trace Lines AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Task Monitor movement AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 243872482 1837101753 AND achieve

Composition 1429884239 1837101753 AND achieve

Task sensing ground AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 888109912 243872482 AND achieve

Goal Map is known AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 1445639756 243872482 AND achieve

Task having map on RAM AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 1574448654 1445639756 AND achieve

Task Monitor moter rotation AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 146108575 1429884239 AND achieve

Task know wheel spec. AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Composition 1413919648 1429884239 AND achieve

SoftGoal Robust in collision AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Contribution 1952699817 1429884239 0 0.0 achieve SoftGoal Cost in Material AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Contribution 2036630029 888109912 0 0.0 achieve SoftGoal Efficiency in memory AND achieve

StandardTropos PermissionTrust ExecutionTrust FunctionalRequirements TrustManagement Contribution 1806169444 1574448654 0 -0.5 achieve Contribution 1429884239 1952699817 0 0.0 achieve Contribution 1574448654 1806169444 0 -0.5 achieve Contribution 1413919648 1806169444 0 0.0 achieve Contribution 146108575 2036630029 0 -0.5 achieve 0