Since the architecture has been designed
specifically for controlling freely moving autonomous
mobile robots, strict constraints on the scope of behaviors has been applied.
The heterogenous asynchrous architecture allows
agents to perform physical
actions, monitor the environment and plan. The control
layer manages the reactivity of the agent, while the
sequencing layer manages interruptions to processing and the
task queue. The deliberative
layer plans coordinated movements and determines the feasibility of
achieving goals.
Behavioral Extensions to the Subsumption Architecture
The subsumption architecture has been extended
to include the ability of the agent to respond in alternative methods upon
failure of the originally specified response or action.
Limits and Extents of Control and Deliberations
The sequencing layer and the
delberative layer facilitate the extension of the
subsumption architecture to include
planning.
ATLANTIS Agents Cannot
Learn
ATLANTIS agents require all of the operations available beforehand, so the
agents cannot learn. New reactions can only be added to the agent by compiling
and loading by an external programmer.
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