TABLE 5.

The well-formedness conditions of reactive-skills designs.

Condition	Description
RS1	A Layer that has a pattern of type ReactiveSkills must be a GenericLayer or ControlLayer
RS2	For a Layer with pattern type ReactiveSkills, at least one of the System’s connections is from that layer to a RoboticPlatform or that layer has at least one rinterface
RS3	For each event of ReactiveSkills Layer’s interfaces, there must be a DSkill input with a matching name
RS4	ReactiveSkills must contain a CSkill and a DSkill
RS5	A CSkill must have at least one output
RS6	A DSkill must have at least one output or input
RS7	The start and end Skill of a SkillConnection must be distinct
RS8	The startOutput of a SkillConnection must be an output of its start Skill
RS9	The endInput of a SkillConnection must be an input of its end Skill
RS10	The types of the startOutput and endInput of a SkillConnection must match
RS11	A Monitor’s condition must only refer to parameters, inputs, and outputs of the Skills