The Tactical Planning Algorithms Group (TPAG) was the AI branch of the ADRG starting in 1976, and was succeeded by an identically-named group inside of the BSD until 1991. Its members included Koichi Santei. TPAG initially focused on planning algorithms, and by 1980 had progressed into studying synthetic consciousness. It returned to its emphasis on planning after the formation of Dr. Santei's Recreational Cybernetics Group (RCG) and generally acted as a collaborative partner in product development, forming connections with different NS departments and divisions over a wide range of robotics and weapons guidance projects.