GREYC (Groupe de Recherches en Automatique, Informatique, Image et Instrumentation de Caen) is a research unit associated with CNRS, University of Caen and the ENSICAEN engineers school. It is a laboratory of 180 permanent and not-permanent members. Its sets of themes cover the main disciplines of computer science: AI, signal and image processing, automatic and electronics. Team MAD (Modèles, Agent, Decision) directed by Pr. Abdel-Illah Mouaddib is invested in many projects touching with real applications: scout robots (in collaboration with NASA), crisis simulation, reconfigurables robots, mobile agents, etc. The main goal of the team is to study and propose methods to allow a group of adaptive real-time agents and under constraints of resources, surrounded by a dynamic environment, to make rational decisions for the realization of a mission.