Modeling Objects Moving in a Complex Environment with World Automata

We propose an extension of the Hybrid I/O Automaton (HIOA) model, where each automaton lives in a generic environment (called world), and interacts with it. We call this object as World Automaton (WA). Each WA occupies a specific position in the world and each position has properties that influence the automaton behavior. Furthermore, the automaton is able to affect the properties of the underlying world. We build our extension in such a way that a WA itself can be an environment for other WAs, thus allowing for nested worlds