Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and Notation (BPMN) 2.0 for robotic applications. Hierarchical abstractions fundamental to BPMN allow the mission to be naturally decomposed into interdependent parallel sequences of BPMN elements. M2PEM adapts these elements in a role based framework which uses collaborative control modalities as an atomic building block. Designed missions are able to consider situational data, external stimuli, and direct user interaction. Missions are directly executable using a resource manager and a ROS-based execution engine.
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