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.