The Three-Layer Architecture is a hybrid reactive/deliberative robot architecture developed by R. James Firby that consists of three layers: a reactive feedback control mechanism, a reactive plan execution mechanism, and a mechanism for performing time-consuming deliberative computations.
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“Polarized light showed the secret architecture of bodies; and when the second-sight of the mind is opened, now one color or form or gesture, and now another, has a pungency, as if a more interior ray had been emitted, disclosing its deep holdings in the frame of things.”
—Ralph Waldo Emerson (1803–1882)