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Architectural Details
The ATLANTIS architecture is the union of a deliberative architecture
and a Brooksian architecture. The
resulting architecture is based on the concept of activities
and decisions.
An activity is a set of physical and computational processes
performed by an agent in a given time period. Some activities contain
computational process which initiate and terminate other activities.
A decision is the result of computational processes which
initiate or terminate other activities. A decision may initiate an
activity which contains computational processes which initiate other
activities. If we assume there are no circularities in this network of
initiations, then activities may be classified into a hierarchy.
Structurally, ATLANTIS can be divided into three
layers: the control layer, the sequencing layer, and the
deliberative layer.
This architecture has been successfully used to control both an
indoor and outdoor agents performing complex
nagivation task.