181-189,Hamstad University, 1993. The paper presents a general architecture for behaviour based control systems for autonomous agents. A number of architectural principles are proposed which make it possible to combine reactive control with learning and problem solving in a coherent way. In particular, I investigate the interaction between reinforcement learning, internal world models and dynamic action selection as well as a number of connections to psychological models and biological systems. Click to obtain the paper in PostScript format.
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