{
  "name": "drone",
  "goal": "transport payload loc target",
  "sensor": "",
  "actuator": "force air",
  "control": "conflict val normal",
  "plan": "sequence loc",
  "navigate": "loc waitfor event",
  "children": [
    {
      "name": "body",
      "goal": "hold group",
      "sensor": "force stat vibration",
      "actuator": "",
      "control": "stat heavy",
      "plan": "",
      "navigate": "",
      "children": [
        {
          "name": "radar",
          "goal": "data pattern obstacle",
          "sensor": "radiation pattern loc",
          "actuator": "",
          "control": "stat near -> alert computer",
          "plan": "pattern",
          "navigate": "waitfor event",
          "children": []
        },
        {
          "name": "computer",
          "goal": "solve problem",
          "sensor": "data event",
          "actuator": "compress data pattern",
          "control": "conflict",
          "plan": "sequence",
          "navigate": "fork",
          "children": []
        },
        {
          "name": "battery",
          "goal": "energy stat full",
          "sensor": "val charge stat empty",
          "actuator": "",
          "control": "stat low -> loc home",
          "plan": "",
          "navigate": "",
          "children": []
        },
        {
          "name": "payload",
          "goal": "transport stat safe",
          "sensor": "stat heavy",
          "actuator": "release",
          "control": "force stat heavy",
          "plan": "",
          "navigate": "loc target",
          "children": []
        }
      ]
    },
    {
      "name": "wings",
      "goal": "lift",
      "sensor": "force air",
      "actuator": "force lift",
      "control": "val normal",
      "plan": "",
      "navigate": "",
      "children": [
        {
          "name": "engines",
          "goal": "force thrust",
          "sensor": "stat hot stat speed",
          "actuator": "force thrust",
          "control": "stat hot -> stat slow",
          "plan": "sequence speed",
          "navigate": "",
          "children": []
        },
        {
          "name": "ailerons",
          "goal": "fix stat level",
          "sensor": "force",
          "actuator": "force roll",
          "control": "fix stat fast",
          "plan": "",
          "navigate": "",
          "children": []
        }
      ]
    }
  ]
}