Gat, E. (1997). On three-layer architectures. In Kortenkamp, D. and Bonasso, R. P., (Eds.), Artificial Intelligence and Mobile Robots. Case Studies of Succesful Robot Systems, pages 195--210. MIT Press. Home/Search Document Details and Download
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....(to control the robot in mode 3) or only from time to time (to plan the next way point in mode 2) It differs from the planners of other robot architectures in that it can control the robot directly, when needed. This is a radical departure from the current thinking that this should be avoided [Gat98] and the suggestion to use plans only as advice but not commands [Agre90] which is based on experience with classical planning technology that was too slow for researchers to integrate it successfully into the control loop of robots [Fikes71 ] Our robot architecture demonstrates that using plans ....
E. Gat, "On Three-layer architectures", Artificial Intelligence and Mobile Robots: Case Studies of Successfid Robot Systems (D. Kortenkamp, R.PBonasso, and R.MutTvhy, eds), MIT Press, Cambridge MA, pp. 195-210, 1998.
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