Copyright t IF AC Intelligent Autonomous Vehicles. Sapporo. Japan. 2001 IFAC c: 0 [> Publications www.elsevier.com/locateiifac A NEW HUMAN BASED ARCHITECTURE FOR INTELLIGENT AUTONOMOUS ROBOTS R. Barber, M.A. Salichs System Engineering and Automation Division Carlos III University Cl Butarque 15. 28911 Leganes (Madrid) rbarber@iny. uc3rn. es. salichs@ing. uc3rn. es Abstract: In this paper the development of a new architecture for the control of autonomous mobile robots is shown. To build the architecture we have had in mind how the mental human processes are. The developed architecture has two levels: a deliberative one and an automatic one. For this reason. this architecture has been named AD (Automatic-Deliberative Architecture).In the deliberative level we find those skills that require high computational time as a consequence of high level reasonings. In the automatic level we find the skills that interact with robot sensors and actuators. Copyright © 200] ]FAC Keywords: mobile robots. robots architecture. robots skills, intelligent autonomous vehicles 1. IKTRODUCTION V/hen considering a new control architecture in the robotic world. the first question is how the reasoning capacity and the actuation are distributed. The new architecture. considered as a hybrid one. pretends to combine planification and reactiw actions. To build the new control architecture we are go- ing to consider the human beings organise their mental processes. Once more. nature is going to proportionate the models to imitate. There- fore. the motivation of the AD architecture is the human being reasoning capacity and the actua- tion capacity. In this paper we reflexionate about the in which humans organise their mental processes. As a consequence of those reasonings. we present the new AD architecture (Automatir- Deliberatiw Architecture) . 81 2. PRECEDINGS The actual trend is to incorporate deliberation and reactivity in the same architect.ure. Consid- ering this. we are going to emphasize on the three layer architectures developed Firby. Gat and Bonasso. They mark the present tendency and these architectures can be considered as preced- ings of the AD architecture proposed in this pa- per. 2.1 Animate Agent Architecture James Firby (Firby 1992) (Firby 1994) developed an execution of plans named RAP which is based on a "reactiw packages program". The complete architecture is shown on figure 1. On it. we can obserw three layers: a planification layer that produces plans depending on the goal. the RAP executor which deepens in the details of the preyious plan in execution time. and a control system which performs actions on the enyironment.