Ronald C. Arkin
Over the years, there has been seemingly endless debate on how robot software architectures differ from each other and how they resemble each other. Often points are made that some architectures can do one thing while another cannot, or that in fact they are equivalent. The question is posed "Just what does it mean when we say that an architecture is different in some respect from another or that they are in some ways equivalent?" An effort is made in this paper to answer that question.