digraph G 
{
	// MAIN FSM
 	subgraph cluster0 {
		node [style=filled,color=white];
		style=filled;
		

		Main_Start -> Main_Plan_Go[style=dotted];
		Main_Plan_Go ->Main_wait[style=dotted,label=" Start "];
		Main_wait -> Main_Plan_Go[style=dotted,label=" Done "];
		Main_wait -> Main_GoFoBot[style=dotted,label=" Bottle "];
		Main_GoFoBot -> Main_Follow_Bot [style=dotted,label="  "];
		Main_Follow_Bot -> Main_Plan_Go[style=dotted,label=" LostORdone     "];
		Main_Follow_Bot -> Main_Grab[style=dotted,label=" CloseTOgrab "];
		Main_Grab -> Main_Follow_Bot [style=dotted,label=" Fail "];
		Main_Grab -> Main_Plan_Go [style=dotted,label=" Done "];

		label = "MainFSM";
	}

	Main_Start -> Pickup_start[label=" Start "];
	Main_Start -> Move_start[label=" Start "];
	Main_Plan_Go -> Move_wait[label=" Plan&GO"];
	Main_GoFoBot -> Move_drive  [label=" Kill Route "];
	Main_Follow_Bot -> Move_wait [label=" Direct Navigating    "];
	Main_Grab -> Pickup_wait [label=" Try Pickup "];

	// DET FSM
	subgraph cluster1 {
		node [style=filled,color=white];
		style=filled;
		
		Det_start -> Det_Scan [style=dotted];
		label = "DetFSM";
	}

	Det_start -> Main_Start	[label=" Start "];
	Det_Scan -> Main_wait	[label=" Bottle "];
	


	// Pickup FSM
	subgraph cluster2 {
		node [style=filled,color=white];
		style=filled;
		
		Pickup_start -> Pickup_unfold [label="  ", style=dotted];
		Pickup_unfold -> Pickup_wait [label="  ", style=dotted ];
		Pickup_wait -> Pickup_Picking [label=" Try ", style=dotted ];
		Pickup_Picking -> Pickup_WaitForSuccess[label="  ", style=dotted ];		
		Pickup_WaitForSuccess -> Pickup_wait [label=" DoneORfail  ", style=dotted ];
		label = "PickupFSM";
	}

	Pickup_WaitForSuccess -> Main_Grab [label=" DoneORfail "]

	// Move FSM
	subgraph cluster3 {
		node [style=filled,color=white];
		style=filled;
		
		Move_start -> Move_init [style=dotted];
		Move_init -> Move_wait [style=dotted];
		Move_wait -> Move_drive [style=dotted, label=" Begin "];
		Move_drive -> Move_wait [style=dotted, label=" Done "];
		label = "MoveFSM";
	}
	
	Move_drive -> Main_wait [label="Way done"];
	Move_drive -> Main_GoFoBot [label="Way done"];



	subgraph cluster10 {
		node [style=filled,color=white];
		style=filled;
		

		A -> B [style=dotted];
		C -> D [style=dotted,label=" podminka "];
		E -> F [label=" Signal "];

		label = "HELP";
	}

}