GLUE--A Component Connecting Schema-based Reactive to Higher-level Deliberative Layers for Autonomous Agents

James Kramer and Matthias Scheutz

Several problems need to be addressed when integrating reactive and deliberative layers in a hybrid architecture, most importantly the different time scales of operation and (possibly) different data representations of the individual layers. This paper proposes an interface component called GLUE that is designed to mediate between a schema-based reactive and higher-level deliberative layer. We demonstrate the viability of the conceptual architectural design by defining and implementing a schema-based reactive architecture for a ball following task on an autonomous agent, which is then extended by the GLUE component to interface with a simple deliberative layer.


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