Architectural Properties of an Heterogeneous Asynchronous Architecture

This architecture,based on the subsumption architecture of Brooks, focuses on the problem of controlling autonomous mobile robots. Aspects of this architecture that resemble the highly reactive subsumption architecture are coupled with a deliberative mechanism that allows the agent to support multiple simultaneous goals and to develop plans. The list below summarizes how this architecture meets several measures of artificial intelligence.

Generality
Versatility
Rationality
Scalability
Reactivity
Efficiency
Ability to Add New Knowledge
Ability to learn
Taskability
Psychological or Neuroscientific Validity

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