In theoretical computer science, the π-calculus (or pi-calculus) is a process calculus originally developed by Robin Milner, Joachim Parrow and David Walker as a continuation of work on the process calculus CCS (Calculus of Communicating Systems). Namely it aims at describing complex concurrent computations, with multi-agent-computation-units being mobile systems. Robert Milner has extended Pi-Calculus into the broader theory of Bigraphs.