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.

This paper introduces TABASCO, an architecture for software agents aimed at integrating results from functional theories in emotion research and insights on the impact of the capacities and limitations of perception in a framework orientated along the situated "New AI"/ALife approach. This expository paper first briefly summarizes current views on the nature and function of emotion and then discusses related current appraisal theories in more detail. A survey of existing approaches to emotion synthesis is followed by a first outline of the TABASCO architecture, relating it to the areas of research in psychology, ALife and agent architectures.

This paper describes an implementation of the 3 T 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 recentyears, other architectures have been created with similar attributes but two features distinguish the 3 Tarchitecture: 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.

In this paper we describe a stereo vision system that can recognize natural gestures and an intelligent robot control architecture that can interpret these gestures in the context of a task. The intelligent control architecture consists of three layers. The top layer deliberates via a state-based, hierarchical, non-linear planner. The bottom layer consists of a suite of reactive skills that can be con gured into synchronous state machines by the middle layer. The middle layer, implemented in the RAPs system, serves to mediate between the long range deliberation of the top layer and the continuous activity of the bottom layer. It is in the middle layer that we are investigating context focused deictic gesturing for human-robot interaction. When directed in the context of di erent RAPs, human gestures can be interpreted by the system di erently for di erent tasks. This work shows that a) our architecture, designed to support perception and action, can also support other forms of communication, and b) task contexts can act as resources for communication by simplifying the interpretation of communicative acts.