Autonomous agents operating in compelx dynamic environments need the ability to integrate robust plan execution with higher level reasoning. This paper describes work to combine low level navigation techniques drawn from mobile robotics with deliberation techniques drawn from intelligent agnes. In particular, we discuss the combination of a navigatio system based on fuzzy logic with a deliberator based on the belief/desire/intention (BDI) model. We discuss some of the subtleties involved in this integration, and illustrate it with an example.
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