The latter includes pre-setting the lower levels so that they respond appropriately as well. The architecture is used to control the EAVE-III vehicles and will be used for most other vehicles MSEL develops. These handle the very lowest-level interactions with the hardware and will be specific to each different kind of vehicle on which the architecture is used. This takes high-level, abstract goals and constraints from the user and creates a plan to accomplish the mission. It executes the plan by sending commands down to Navigator.
Navigator is responsible for fairly large-grain effector and motion commands.
Path planning, for example, is at this level. Its tasks are accomplished by sending commands to Guidance. This is the module in which obstacle avoidance algorithms reside. Currently, work the Orca project is remedying this situation. As can be seen in the figure, Orca will replace both top-level modules.