Implementation:lessons from control architecture design
Advances in particular with respect to layered designs
Change in appreciation of the role of the “middle” tier of the established trionic model,the scheduler (“middle-out” model of control):
- scheduler receives important information fromlower level behaviors (“cognizant failure”) &spawns long-term planning activities(cf. e.g. E.Gat’s ATLANTIS)
- scheduler as natural location for implementation of(a substantial part of) expressive action generation support