NOTE: This assignment, like others in this class, is due at the beginning of the class period. This means that if you are even a minute late, you lose 20%. If you are worried about potentially being late, turn in your homework ahead of time. Do this by submitting it to me during office hours or by sliding it under my office door. Do not send assignments to me through email or leave them in my departmental mail box.
As discussed in class and in your textbook, there are five components common to hybrid deliberative/reactive robot architectures: Sequencer, Resource Manager, Cartographer, Mission Planner, and Performance Monitoring and Problem Solving Agent.
As also discussed in class and in your textbook, Xavier’s software architecture is an example hybrid deliberative/reactive robot architecture.
Relate the parts of Xavier’s software architecture to the five common components of hybrid architectures. Explain your answer.
How much of Xavier’s functionality do you believe you could implement using a purely reactive approach (with no planning or world model of any kind)? Explain your answer.
Of those aspects of Xavier’s functionality that you believe you could implement reactively, do you think they would be more efficient, less efficient, or equally as efficient as the hybrid implementation used in Xavier? Explain your answer.
Turn in a typed copy of your work for this assignment. In total, your homework should run from 1.5 to 2 pages in length (roughly 80 characters per line, 50 lines per page). This does not count any figures that you may choose to include, which may be of any size.