MAAP

flowchart RL
	Processing
	Controller0
	Processing <-->|"( command, return) connection pair"| Controller0
	Processing <-->|"( command, return) connection pair"| Controller1
	Processing <-->|"( command, return) connection pair"| Controller2
	Processing <-->|"( command, return) connection pair"| Controller3
	Processing <-->|"( command, return) connection pair"| Controller4