PAGODA is a modular architecture for design of (partially) autonomous systems. A PAGODA node interacts with its environment by sensing and affecting, driven by goals to achieve and constrained by policies. A PAGODA system is a collection of PAGODA nodes cooperating to achieve some mutual goal.
A white paper summarizing the main ideas of PAGODA can be found here.
A formal executable specification of the PAGODA architecture in the Maude language has been developed. To test the ideas it has been instantiated it with a very abstract device model of a wireless radio. The Maude code, documentation and sample runs can be found in this zip file.