hardware RoverV1 {
    sensors [GPS, Camera, Lidar];
    actuators [DifferentialDrive];
    connectivity [WiFi];
}

knowledge_model NavModel {
    component gps;
    component lidar;
    dependency navigation requires [gps, lidar];
}

anomaly_detector NavigationAnomaly {
    expected gps.accuracy <= 3 m;
    expected localization.confidence >= 0.85;
}

on anomaly NavigationAnomaly severity High {
    enter degraded_mode;
    audit.record("navigation_anomaly");
}

health_check NavHealth for robot Rover {
    check gps.fix >= 4;
}

robot Rover {
    sensor gps: GPS;
    sensor lidar: Lidar;
    actuator wheels: DifferentialDrive;

    safety { max_speed = 1.0 m/s; }
    behavior navigate() { wheels.drive(0.3 m/s); }
}
