The Group Autonomy for Mobile Systems (GAMS) project at Carnegie Mellon University is intended to provide a distributed operating environment for control of unmanned autonomous systems (UAS). The repository is composed of C++, Java, MADARA, and some LUA bindings that enable a single person to control and understand information from a swarm of devices, robots, or UAS.

The purpose of the project is to develop a real-time, fault tolerant agent-based middleware specifically for distributed timing, control, knowledge and reasoning, and quality-of-service. MADARA is composed of several tools and middleware, and the main entry point into the system is the Knowledge and Reasoning Language (KaRL) Engine, which provides a real-time scripting language for nanosecond execution times hooked into a flexible transport layer for distributed reasoning