In various circumstances, it is possible to arrive at the need to specify
sequences of operations that a "machine" has to perform to achieve a purpose.
This paper will present VISPS, a visual system originally designed to specify
mission plans for the SARA autonomous submarine robot. Although this is the
particular setting for which the system had been initially devised, thanks to
its flexibility it can be easily configured to adjust to different contexts
and situations, even if it is always based on the same simple basic visual
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