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The demonstration simulation illustrates a MASA-CIRCA-controlled aircraft responding to attacks with evasive maneuvers, flares, chaff, and counterattacks. 

The demonstration simulation illustrates a MASA-CIRCA-controlled aircraft responding to attacks with evasive maneuvers, flares, chaff, and counterattacks. 

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Figure 1. The CIRCA architecture combines intelligent planning and...
Figure 2. The simulated Puma robot arm domain.
Figure 11. The demonstration simulation illustrates a...
Figure 12. The AMP Information Display depicts AMP status. 
+5 Figure 13. The RTS Information Display shows what each RTS is doing at...
MASA-CIRCA: Multi-Agent Self-Adaptive Control for Mission-Critical Systems
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  • Feb 2004
The goal of this contract effort was to begin extending the Cooperative Intelligent Real-Time Control Architecture (CIRCA) with abilities to automatically monitor its own performance and adapt in real-time, forming Multi-Agent Self Adaptive (MASA) CIRCA. CIRCA is a coarse-grained architecture designed to control autonomous systems which require bot...
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... Figure 11 shows a screengrab from one simulation run, in which the UAV has been threatened by a surface-to-air missile (seen as a black line curving towards the aircraft) and it is responding with flares (one of which is seen falling below the flight path) and a counter-strike missile (seen arcing down onto the surface ...