Uncertainty in action

There are two kind of uncertainty that can be identified after an action has been done: one is faulty actions that may come from faulty actuators or deliverative errors based on errorneous data that is perceived or internal data, the other one is from change of environments thus making the current actions out-of-date. Both uncertainty would be reduced by employing competent perceptual mechanism that monitors actions and dynamic environment frequently with short time interval.

Architectures that can handle uncertainty of action:

Subsumption Architecture
Behavior-based Programming
Soar
MAX

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