The Deliberative Layer
The deliberative layer is an asynchronous processing layer used for
computationally intensive tasks.
The layer is typically used
for planning tasks which utilize the
task queue
as an implicit model of the
current state of the agent while maintaining an
independent abstract model
of the world. This characteristic is unlike strict Brooksian architecture
which employs no global model of the world (all knowledge is local),
but also differs from architectures that pursue
general intelligence or
domain-independent learning
and behaviors in that its model is minimal
for the tasks of navigation and temporally short motor activities such as
pick-up-the-can.
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