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The Model Based Planner (MBP) is a system designed to perform plan synthesis, plan validation and plan/domain simulation in non-deterministic domains.

Lime is a coordination model and middleware based on the ideas found in Linda, a shared tuple space model developed at Yale in the 1980s. Lime has three primary incarnations, each tailored for a specific environment, ranging from mobile ad hoc networks to sensor networks with base stations or with actuators.