Specification of Control Tasks in CCL: The Computation and Control Language

As engineered systems become more complex and assume a higher degree of autonomy, it is becoming increasingly necessary to design and analyze the coupled computation, control, and communication elements of systems together. Control designs are growing from conventional "inner loop" designs to stabilize system dynamics to more complex "outer loop" systems that perform decision making and mode switching tasks as well. Such systems may also be distributed across multiple agents such as autonomous vehicles that must also communicate and coordinate their actions.