Gat: Hierarchy of Levels

Description

• A hierarchy of levels is created in response to the regularities at different time scales that exist in the environment. These levels utilize differing amounts of computation and maintain varying amounts of state information .
• Lower architectural levels interact closely with the environment and thus operate at a low level of abstraction while higher architectural levels operate at a higher level of abstraction. Thus the implementation of multiple architectural levels allows the use of knowledge at different levels of abstraction .
• The ATLANTIS architecture is divided into three clearly defined hierarchical levels:
  • The control layer is the lowest level. It initiates action that produces short-term effects and thus utilizes little computation and minimal state.
  • The sequencing layer is a middle level component that acts as an interface between the lower and higher levels.
  • The deliberative layer is the highest level. It operates at a slow time scale by planning about long term affects of actions in the environment.