A description of this architectural pattern can be found here. The architecture is a generic architecture for robotics behavior. Its implementation in the SmartSoft World is SmartTCL and Dynamic State Charts. In terms of the abstraction levels, this pattern addresses task and skill levels; in terms of concerns, it addresses coordination and configuration.

To be extended. This architectural pattern is about:

• continuous vs. discrete
• task-plot description (i.e. hierarchical task-tree)
• using external solvers as experts on demand (i.e. symbolic planer)

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Robotic Behavior spans across several levels:

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This document contains material from:

• Lotz2017 Alex Lotz, “Managing Non-Functional Communication Aspects in the Entire Life-Cycle of a Component-Based Robotic Software System,” 2017. (unpublished work)
• Lutz2017 Matthias Lutz, “Model-Driven Behavior Development for Service Robotic Systems: Bridging the Gap between Software- and Behavior-Models,” 2017. (unpublished work)
• Stampfer2017 Dennis Stampfer, “Contributions to Composability using a System Design Process driven by Service Definitions for Service Robotics,” 2017. (unpublished work)