Many brave robot software architectures were advanced in holy wars that raged back and forth, and some horribly crippled machines resulted, yet key ideas prevailed- CBR, neural nets, fuzzy logic, genetic algorithms, and so on, along with many classic ideas- such as metaphysics and cybernetics, and tools such as data flow/petrinet diagramming, semantic representation in predicate calculus, and state machines in matrix algebra.
Low level/bottom up architectures made of SENSE-ACT (SA) loops empower simple systems, but scale up awkwardly. Toward more complex systems, SENSE-PLAN-ACT (SPA) architectures abstract a layer of deliberation intermediate to sensing and acting. An old DARPA smart weapon scheme included a layer for sensory interpretation, and was called OODA Loop, for OBSERVE-ORIENT-DECIDE-ACT. We can also think of it as SENSE-INTERPRET-PLAN-ACT to better match SENSE-PLAN and SENSE-PLAN-ACT verbiage. SPA is the most mainstream AI model.
To decompose a complex system design, each unit of a SPA style partitioning can itself be modeled as an SPA style agent, to any fractal level of system complexity. The range of models =>SA=>SPA=>SIPA=> may find appropriate use within a single hierarchical framework.
A managerially useful orthogonal dimension to a complex robot architecture is central physical and logical integration vs. distributed networking. While high integration is dreamed of, distributed "lash-ups" sooner access more varied resources, often achieving interesting results first. Along this dimension is tracked the rapid migration of real world resources across abstractional zones, as the project evolves.
Below is a draft "universal" scheme in graphical form, based on OODA and the integration/distribution axis, upon which any intelligent agent can be mapped. In particular the ProtoAndroid architecture is based on it, although SPA will replace OODA, in a spirit of simplicity. The diagram below can also be understood as an enterprize level organizational chart of project people and technology.
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