Coordinating planning, perception, and action for mobile robots

To operate effectively with complex tasks in complex environments, agents must intelligently manage their limited physical and computational resources. This can be accomplished by explicitly coordinating the agent's planning, perception, and action. The Task Control Architecture (TCA) provides a vocabulary of coordination constructs that combines both deliberative and reactive aspects. The paper briefly describes the control constructs of TCA, and characterizes their applicability along several important dimensions.