The concept of an agent has become important in both Artificial Intelligence (AI) and mainstream computer science. Our aim in this paper is to point the reader at what we perceive to be the most important theoretical and practical issues associated with the design and construction of intelligent agents. For convenience, we divide these issues into three areas (though as the reader will see, the divisions are at times somewhat arbitrary). Agent theory is concerned with the question of what an agent is, and the use of mathematical formalisms for representing and reasoning about the properties of agents. Agent architectures can be thought of as software engineering models of agents; researchers in this area are primarily concerned with the problem of designing software or hardware systems that will satisfy the prop-erties specified by agent theorists. Finally, agent languages are software systems for programming and experimenting with agents; these languages may embody principles proposed by theorists. The paper is not intended to serve as a tutorial introduction to all the issues mentioned; we hope instead simply to identify the most important issues, and point to work that elaborates on them. The article includes a short review of current and potential applications of agent technology.

In this paper, we bring techniques from operations research to bear on the problem of choosing optimal actions in partially observable stochastic domains. We begin by introducing the theory of Markov decision processes (mdps) and partially observable mdps (pomdps). We then outline a novel algorithm for solving pomdps offline and show how, in some cases, a finite-memory controller can be extracted from the solution to a pomdp. We conclude with a discussion of how our approach relates to previous work, the complexity of finding exact solutions to pomdps, and of some possibilities for finding approximate solutions.

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Planning under uncertainty is a central problem in the study of automated sequential decision making, and has been addressed by researchers in many different fields, including AI planning, decision analysis, operations research, control theory and economics. While the assumptions and perspectives adopted in these areas often differ in substantial ways, many planning problems of interest to researchers in these fields can be modeled as Markov decision processes (MDPs) and analyzed using the techniques of decision theory. This paper presents an overview and synthesis of MDP-related methods, showing how they provide a unifying framework for modeling many classes of planning problems studied in AI. It also describes structural properties of MDPs that, when exhibited by particular classes of problems, can be exploited in the construction of optimal or approximately optimal policies or plans. Planning problems commonly possess structure in the reward and value functions used to de...

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The concept of an agent has recently become important in Artificial Intelligence (AI), and its relatively youthful subfield, Distributed AI (DAI). Our aim in this paper is to point the reader at what we perceive to be the most important theoretical and practical issues associated with the design and construction of intelligent agents. For convenience, we divide the area into three themes (though as the reader will see, these divisions are at times somewhat arbitrary). Agent theory is concerned with the question of what an agent is, and the use of mathematical formalisms for representing and reasoning about the properties of agents. Agent architectures can be thought of as software engineering models of agents; researchers in this area are primarily concerned with the problem of constructing software or hardware systems that will satisfy the properties specified by agent theorists. Finally, agent languages are software systems for programming and experimenting with agents; these languages typically embody principles proposed by theorists. The paper is not intended to serve as a tutorial introduction to all the issues mentioned; we hope instead simply to identify the key issues, and point to work that elaborates on them. The paper closes with a detailed bibliography, and some bibliographical remarks. 1

The Spatial Semantic Hierarchy is a model of knowledge of large-scale space consisting of multiple interacting representations, both qualitative and quantitative. The SSH is inspired by the properties of the human cognitive map, and is intended to serve both as a model of the human cognitive map and as a method for robot exploration and map-building. The multiple levels of the SSH express states of partial knowledge, and thus enable the human or robotic agent to deal robustly with uncertainty during both learning and problem-solving. The control level represents useful patterns of sensorimotor interaction with the world in the form of trajectory-following and hill-climbing control laws leading to locally distinctive states. Local geometric maps in local frames of reference can be constructed at the control level to serve as observers for control laws in particular neighborhoods. The causal level abstracts continuous behavior among distinctive states into a discrete model ...

A formalism is presented for computing and organizing actions for autonomous agents in dynamic environments. We introduce the notion of teleo-reactive (T-R) programs whose execution entails the construction of circuitry for the continuous computation of the parameters and conditions on which agent action is based. In addition to continuous feedback, T-R programs support parameter binding and recursion. A primary di erence between T-R programs and many other circuit-based systems is that the circuitry of T-R programs is more compact; it is constructed at run time and thus does not have toanticipate all the contingencies that might arise over all possible runs. In addition, T-R programs are intuitive and easy to write and are written in a form that is compatible with automatic planning and learning methods. We brie y describe some experimental applications of T-R programs in the control of simulated and actual mobile robots. 1.

This paper presents a novel approach to the problem of action selection for an autonomous agent. An agent is viewed as a collection of com- petence modules. Action selection is modeled as an emergent property of an activation/inhibition dynamics among these modules. A con- crete action selection algorithm is presented and a detailed account of the results is given. This algorithm combines characteristics of both traditional planners and reactive systems: it produces fast and robust activity in a tight interaction loop with the environment, while at the same time allowing for some prediction and planning to take place. It provides global parameters, which one can use to tune the action selection behavior to the characteristics of the task environment. As such one can smoothly trade off goal-orientedness for situation-orientedness, bias towards ongoing plans (inertia) for adaptivity, thoughtfulness for speed, and adjust its sensitivity to goal conflicts.