Abstract
The paper presents current results of our work on DD&P, a two layer control architecture for autonomous robots. DD&P comprises a deliberative and a behavior-based part as two peer modules with no hierarchy among these two layers, as sketched in [HJZM98]. Interaction between these control layers is regulated by the structure of the information flow, extending the classical sense-model-plan-act principle. The paper stresses two architectural highlights of our approach: The implementation of the Plan-as-Advice principle to execute plan operators by the behavior-based part, and the grounding of the symbolic planner description via chronicle recognition.
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