Atlantis Description

Layers of Behaviors

Atlantis, (or A Three-Layer Architecture for Navigating Through Intricate Situations), like the subsumption architecture, is built in layers. In Atlantis, however, all instantiations of the architecture have the same three layers, each of which always performs the same duty.

The Control Layer directly reads sensors and sends reactive commands to the effectors based on the readings. The stimulus-response mapping is given to it by the sequencing layer

The Sequencing Layer has a higher-level view of robotic goals than the control layer. It tells the control layer below it when to start and stop actions.

The Deliberative Layer responds to requests from the sequencing layer to perform deliberative computations.

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