The Strategic-Tactical-Execution Software Control Architecture (STESCA) is used to control Autonomous Veicles. STESCA, a tri-level approach, uses the principle of abstraction to simplify the problems of mission and vehicle control. The three levels of STESCA, from highest to lowest degree of abstraction, are the Strategic, Tactical, and Execution levels. Mission specification is performed in the top Strategic level. The moddle Tactical level maintains the current state of the world, vehicle, and mission. Component and control surface manipulation is performed by the bottom Execution level.
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