This paper describes an implementation of the 3T robot architecture which has been under development for the last eightyears. The architecture uses three levels of abstraction and description languages whichare compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviors for dealing with dynamic environments. In recent years, other architectures have been created with similar attributes but two features distinguish the 3T architecture: 1) a variety of useful software tools have been created to help implement this architecture on multiple real robots;, and 2) this architecture, or parts of it, have been implemented on a varietyofvery different robot systems using different processors, operating systems, effectors and sensor suites.

People like to move along with other people as they are going from place to place. For a person who is in a power wheelchair, this can be a di#cult task. One must track the person they are accompanying, navigate towards the destination, maneuver around obstacles, and avoid colliding with or inconveniencing the person they are accompanying. This paper discusses a low-cost/low computation method of augmenting a semi-automated wheelchair with the capability to pace another person. This method uses a commercial color tracking system as its basis. 1 Introduction One of the activites that most people carry out completely unconciously is to be able to identify and track people in their immediate environment. In particular, when a person has been introduced or has been identified to another person, then that person can easily be followed (by gaze) or picked out of a scene. This capability is usually done using face recognition, shape identification and by using other visual cues. However, u...