An architecture for autonomy

摘要

An autonomous robot offers a challenging and ideal field for the study of intelligent architectures. Autonomy within a rational be- havior could be evaluated by the robot's effectiveness and robust- ness in carrying out tasks in different and ill-known environments. It raises major requirements on the control architecture. Further- More, a robot as a programmable machine brings up other archi- Tectural needs, such as the ease and quality of its specification and Programming.