Plan guided reaction
- 1 January 1990
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. 20 (6), 1370-1382
- https://doi.org/10.1109/21.61207
Abstract
We present a set of architectural concepts which address the needs for integrating high-level planning activities with lower-level reactive or participatory behaviors. Based on lessons learned from our experience with a hierarchical architecture for autonomous cross- country navigation, we have come to recognize various pitfalls that may arise from the misuse of abstraction. Consequently, we have adopted a new approach which emphasizes the minimization of information loss both within and between system layers. This change in perspective has allowed us to greatly enhance the overall capabilities and performance of our system.Keywords
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