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3T

Overview

The 3-Tiered architecture was the result of efforts of several large robotics projects, many through NASA's JPL. The main feature is the delineation of the system into three interacting layers (although different architectures cut the layers differently, especially with respect to the boundary between sequencing and deliberation).

Here the World / Environment section also includes the robotic platform.

The most informative description of the layers follows the role that state plays in each: lowest level, Reactive, deals with little to no state at all. For example, primitive obstacle avoidance or a filtering algorithm.

Next, the sequencer deals only with the current world state: there is not future search. It is concerned with achieving the goals / tasks passed down to it by the deliberating layer. This means that this layer is vulnerable to conflicting goals and other problems, but these should be avoided by the deliberator.

The deliberation layer is responsible for generating a partially ordered task list given a problem description and knowledge of what tasks the platform can perform. Full on search is expected, including dealing with possible future world states.

This, of course leaves out or assumes important bits such as what a task is and the interfaces between these layers.

Contributors

ATLANTIS

Gat

RAP

Firby

TODO: What happened to that Knight paper?

Described by Papers#Bonasso97Experiences3T.

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Page last modified on May 28, 2014, at 04:57 PM