Three-layer architecture

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The Three-Layer Architecture is a hybrid reactive/deliberative robot architecture developed by R. James Firby[1] that consists of three layers: a reactive feedback control mechanism, a reactive plan execution mechanism, and a mechanism for performing time-consuming deliberative computations.[2]

See also[edit]


  1. ^ Firby, R.J. (1990). Adaptive Execution in Complex Dynamic Worlds.
  2. ^ Gat, E.; Others, (1998). "On three-layer architectures" (PDF). Artificial Intelligence and Mobile Robots: 195–210. Retrieved 2008-04-06.