Three-layer architecture explained

Three-layer architecture should not be confused with three-tier architecture.

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

• ATLANTIS architecture
• Servo, subsumption, and symbolic (SSS) architecture
• Distributed architecture for mobile navigation (DAMN)
• Autonomous robot architecture (AuRA)

Notes and References

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