- Quick Reaction Speed
The control layer is designed much like a
Subsumption architecture so that
the ATLANTIS system can achieve quick reaction speeds based on sensory input.
The reactivity is particularly useful in navigation as unexpected obstacles
can be avoided.
- Asynchronous operation
The three layers of the Atlantis architecture run asynchronously at successively
longer cycle times and at successively higher levels of abstraction. Their asychronous operation
allows the different level tasks being performed not to interfere with each other. It also allows
the architecture to perform tasks in a time scale acceptable for each task.
- Central and distributed control
The Atlantis architecture, with its hierarchical structure
Asynchr, exhibits both
central and distributed control. While the overall actions of the system are ultimately
controlled by the sequencing layer, the asychronous operation of the architecture gives allows
each layer a certain amount of autonomy the execution of their appropriate-level tasks.
