D. Harel and M. Politi. Modeling Reactive Systems with Statecharts . McGraw Hill, 1998. Several software tools with this concept in mind operate already in the commercial marketplace. Basic modeling constructs are actors.
Actors are system components which act independently and communicate with each other.
The behavior of an actor is described with ROOMcharts. In the given examples, activities are only parts of control tasks between one sensor and one actuator. It is not clear how to proceed in the case of complex control tasks. D. Harel and M. Politi. Modeling reactive Systems with Statecharts .