„… are qualitatively reminiscent of handcrafted solutions, both in terms of functionality and consistency …” „… terms of consistency (see Section 4.2.2.2 in [1]): • Since SWARM relies on well-established module …” „… design effort, Table 4.11 defines a vocabulary of temporal quantities from 1’ (one minute) to 1Y (one …”

„… commander which rules over the other modules (denoted as associated modules) and maintains the consistency …”