In this paper we present a complete control architecture for a mobile robot which enables it to achieve a set of proposed goals with a high degree of autonomy and to react to the changing environment in real time. Autonomy and robustness are achieved through careful selection and incremental implementation of a set of basic Motor-Behaviors that interpret the sensor readings (sonar, vision and odometric sensors) and actuate the motors. The plan is provided by a user, and is expressed as a sequence of goals and a series of hints on how to achieve them. These hints are based on the user's knowledge of the environment and of the robot's behavioral and perceptual abilities. A new set of behaviors, called Conductor-Behaviors, which inspect and modify Motor-Behaviors' attributes, have been introduced in order to link the robot's Motor-Behaviors to the user's plan. Finally, a canonical set of symbols, attached to the Motor-Behaviors, serves as well grounded symbols that the user can utilize to...

This paper presents the identification, design and implementation of a user interface to a brokerage system and the conceptual architecture and functional behaviour of an intelligent interaction agent that supports and enhances the interaction between the user and the system. The term interaction agent is used in order to describe a particular class of interface agents that function as intelligent personal assistants to users of a computer - based system. The interaction agent provides assistance to the user in two contexts. On the user interface level, it assists users to comprehend and manipulate the user interface. On the domain of application level, it provides users with information and advice according to their preferences. This work is being carried out in the context of an ACTS (AC 221) project GAIA (Generic Architecture for Information Availability).

This paper presents a model for the control of autonomous robots that allows cooperation among them. The control structure is based on a general purpose multi-agent architecture using a hybrid approach made up by two levels. One level is composed of reactive skills capable of achieving simple actions by their own. The other one uses an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This two level approach allows the integration of real-time response of reactive systems needed for robot low-level behavior, with a classical high level planning component that permits a goal oriented behavior. The paper describes the architecture itself, and its use in three different domains, including real robots, as well as the issues arising from its adaptation to the RoboCup simulator domain.