This paper describes an implementation of the 3 T robot architecture which has been under development for the last eight years. The architecture uses three levels of abstraction and description languages which are 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 3 T 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 variety of very different robot systems using different processors, operating systems, effectors and sensor suites. 1 Introduction Since the late eighties we have been investigating ways to combine deliberation and reactivity in control architectures for programming robots to carry out tasks robustly in f...
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