Page 293 - Introduction to AI Robotics

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The Hybrid Deliberative/Reactive Paradigm
7
Performance Monitor Agent,
Planner Mission Planner
Goal
Planning
Monitoring
Subgoal Subgoal Subgoal

Cartographer
Task Task Task Task Task World
Deliberative Layer
Model

Resource Agenda Sequencer
Manager Task
Subtask RAP
Primitive Interpreter Memory
Wait-for
Reactive Layer
Subtask
Sequencer

Skill Skill
Event

Skill
Manager Skill Event

Figure 7.8 3T architecture.

A powerful attribute of the lower level is that the skills have associated
EVENTS events, which serve as checkpoints to verify explicitly that an action has had
the correct effect. In some regards, events are equivalent to the innate releas-
ing mechanisms; both let the world be its own best representation.
The three layers represent true deliberation, reactive planning, and reac-
tive control. They also represent a philosophy organized by scope of state,
rather than scope of responsibility. The Skill Manager layer is composed
of skills that operate only in the Present (although with some allowances
to permit the persistence of some behaviors when the stimulus temporarily