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..., he outlined an alternative architecture for building agents, the so called subsumption architecture (Brooks, 1986). The review of alternative approaches begins with Brooks' work. In recent papers, (=-=Brooks, 1990-=-; Brooks, 1991b; Brooks, 1991a), Brooks has propounded three key theses: 1. Intelligent behaviour can be generated without explicit representations of the kind that symbolic AI proposes. 27 2. Intelli...

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...say most since some animals act during a portion of their lives and not during others, for example the sea squirt [Dethie 1986].) Also, some autonomous mobile robots act, for example Brooks' Herbert [=-=Brooks 1990, p. 8; Fr-=-anklin 1995, p263-5]. All of these are real world agents. Software agents "live" in computer operating systems, databases, networks, MUDs, etc. Almost all the definitions in the previous sec...

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...ple modules interacting via inhibition and suppression to produce the desired behavior. This approach has been used successfully in a number of robotic applications, several of which are described in =-=[7]-=-. Extensions to this approach are necessary, however, when a robot must select among a number of competing actions | actions which cannot be pursued in parallel. Unlike typical behavior-based approach...

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...e environment in which they are embedded (Ferber, 1994). Indeed, Brooks has argued that intelligent behaviour can be realised without the sort of explicit, symbolic representations of traditional AI (=-=Brooks, 1991-=-b). Thirdly, agents may be classified along several ideal and primary attributes which agents should exhibit. At BT Labs, we have identified a minimal list of three: autonomy, learning and cooperation...

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...985 paper, he outlined an alternative architecture for building agents, the so called subsumption architecture [17]. The analysis of alternative approaches begins with Brooks’ work. In recent papers, =-=[20, 19, 18]-=-, Brooks has propounded three key theses: 1. Intelligent behaviour can be generated without explicit representations of the kind that symbolic AI proposes. 2. Intelligent behaviour can be generated wi...

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...eristics of real environments. As a reaction to the partial failure of the classical AI approach todevelop robust control systems for robots that need to operate autonomously in real world situations =-=[3]-=-, anovel approach, termed behavior-based robotics [4], [5], [6], has recently emerged. Whereas classic AI is more concerned with a high level de nition of the environment and of the knowledge required...

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... task-achieving modules, also called behaviors (figure 2). This novel approach has already demonstrated to be very successful and similar approaches have become more widely adopted (cfr. for example (=-=Brooks, 1990-=-) (Rosenschein & Kaelbling, 1986) (Arkin, 1987) (Payton, 1986) (Anderson & Donath, 1988) (Yamaushi 1990) (Zhang, 1989)). However, for more complicated robots prewiring such a solution becomes either t...

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...tion flowing unidirectionally from sensors to actuators, just as in SPA. Where Subsumption departs radically from SPA is in its repudiation of plans (and indeed of symbolic representations in general =-=[Brooks90]-=-). From the details of Brooks's examples it is clear that Subsumption's layers are not decomposed "in the traditional manner" at all. Instead, they are simple networks of small finite state machines j...