Experiences with an architecture for intelligent, reactive agents

Abstract

This paper describes an implementation of the 3 T robot architecture which has been under development for the last eight y ears. The architecture uses three levels of abstraction and description languages which a r e compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviors for dealing with dynamic environments. In recent y ears, other architectures have been created with 1 similar attributes but two features distinguish the 3 T a r c hitecture: 1) a variety of useful software tools have been created to help implement this architecture on multiple real robots and 2) this architecture, or parts of it, have been implemented on a variety o f v ery di erent robot systems using di erent processors, operating systems, e ectors and sensor suites.

Building robot systems to interact with people in real environments

“…While our implementation of REAPER has so far been a two-level architecture, our fundamental approach can easily support a three-level architecture with a knowledge-representation and reasoning system as the top-level. The overall controller, in this case, could be either the middle level, as in Gat's ATLANTIS architecture (Gat, 1998), or the top-level as in Bonasso's 3T architecture (Bonasso et al, 1997).…”

An autonomous mobile manipulator for assembly tasks

“…The executive can react to contingencies, retrying subtasks or removing them from the queue and attempting a different approach, as it deems necessary. Our approach uses the executive developed for the Syndicate architecture (Sellner et al 2006), which extends the 3T architecture (Bonasso et al 1997) in that each robotic agent runs an executive that detects errors and exceptions and modifies an intended schedule of tasks to ensure completion of the main goal.…”

“…We organized our system using the Syndicate architecture (Sellner et al 2006), which extends the 3T architecture (Bonasso et al 1997) to deal with multi-robot coordination. The 3T architecture consists of behavioral, executive, and planning layers.…”

Development of the multi-functional indoor service robot PSR systems

“…8. It is composed of three layers, which are the deliberate layer, the sequencing layer, and the reactive layer, based on the commonly accepted three-layered architecture models like 3T (Bonasso et al, 1997) and ATLANTIS (Gat, 1992). The arrangement of components in the Layered functionality diagram is decided according to the architectural constraints of each layer (e.g., include the time constraints and functionality of the modules).…”