10 UMLSpecialState 40 20 20 20 type=initial Relation 40 20 130 30 lt=<- 110.0;10.0;10.0;10.0 UMLState 150 10 100 40 search next point bg=green UMLSpecialState 180 90 40 40 bg=green type=decision Relation 190 40 30 70 lt=<- 10.0;50.0;10.0;10.0 UMLState 150 180 100 40 detect alignment bg=green Relation 190 120 130 80 lt=<- [distance <= 5m] 10.0;60.0;10.0;10.0 UMLObject 20 0 840 590 Autopilot valign=top Relation 210 90 140 40 lt=<- [distance > 5m] 120.0;20.0;10.0;20.0 UMLState 330 90 100 40 Error bg=red UMLState 150 270 100 40 correct alignment bg=green UMLState 150 360 100 40 drive to point bg=green Relation 190 210 30 80 lt=<- 10.0;60.0;10.0;10.0 Relation 190 300 30 80 lt=<- 10.0;60.0;10.0;10.0 Relation 90 280 80 120 lt=<- 60.0;10.0;10.0;10.0;10.0;100.0;60.0;100.0 UMLState 440 10 410 300 detect alignment valign=top UMLSpecialState 460 60 20 20 type=final Relation 470 60 90 30 lt=-> 10.0;10.0;70.0;10.0 UMLState 540 50 110 40 drive 1m forward UMLState 540 140 110 40 drive 2m backward UMLState 540 230 110 40 drive 1m forward UMLState 700 230 120 40 calculate straight line Relation 580 80 30 80 lt=<- 10.0;60.0;10.0;10.0 Relation 580 170 30 80 lt=<- 10.0;60.0;10.0;10.0 UMLSpecialState 750 150 20 20 type=termination Relation 750 160 30 90 lt=<- 10.0;10.0;10.0;70.0 UMLState 440 320 410 260 correct alignment valign=top UMLState 540 370 190 40 calculate relativ target position Relation 470 380 90 30 lt=-> 10.0;10.0;70.0;10.0 UMLSpecialState 460 380 20 20 type=final UMLState 580 460 120 40 rotate x degree Relation 630 400 30 80 lt=<- 10.0;60.0;10.0;10.0 Relation 630 490 30 80 lt=<- 10.0;60.0;10.0;10.0 UMLSpecialState 630 550 20 20 type=termination