## ARENA ASSUMPTIONS ##
The arena is three-dimensional.
The arena has an origin region.
The arena has a target region.
The arena has a floor.
The gradient of the ground under the origin is 0.0.
The gradient of the ground under the target is 0.0.

## ROBOT ASSUMPTIONS ##
Initially the robot is at the origin.
Initially the orientation of the robot is towards the target.
The robot is a point mass.

## ELEMENT ASSUMPTIONS ##
The origin is on the ground.
The origin has an x-width of 1.0 m and a y-width of 1.0 m.
The target is on the ground.
The target has an x-width of 1.0 m and a y-width of 1.0 m.
The distance from the target to the origin is greater than 1.0 m.

## MAPPING OF INPUT EVENTS ##
When the robot is inside the target, the event found occurs.
When the robot is inside the origin, the event origin occurs.

## MAPPING OF OUTPUT EVENTS ##
When the event takeoff occurs, the velocity of the robot is set to 1.0 m/s upward.
When the event land occurs, the velocity of the robot is set to 1.0 m/s downward.

## MAPPING OF OPERATIONS ##
When the operation move() is called, the velocity of the robot is set to 1.0 m/s towards the orientation of the robot.
The operation turnBack() is defined by a diagram where one time unit is 1.0 s.

## MAPPING OF VARIABLES ##