| The S* architecture [Tsotsos 1997, Tsotsos 1995b, Tsotsos 1996] was proposed as a solution to the problem of integrating reactive and deliberative functionality in robot control. We describe the S* robot control architecture, its theoretical foundation, salient points and major contributions.; In the context of S*, we have implemented a mission specification language that provides support for task decomposition, synchronization and execution monitoring, seeking to complete the specification of the proposed language and to realize an implementation of the overall mechanism, to demonstrate the process of converting a mission description into a behaviour network, and executing the mission on a simulated mobile robot. Examples are presented. |
