Three-layer architecture

{{distinguish|three-tier architecture}}

The Three-Layer Architecture is a hybrid reactive/deliberative robot architecture developed by R. James Firby{{cite book

| author = Firby, R.J.

| year = 1990

| title = Adaptive Execution in Complex Dynamic Worlds

| publisher =

| isbn =

}} that consists of three layers: a reactive feedback control mechanism, a reactive plan execution mechanism, and a mechanism for performing time-consuming deliberative computations.{{cite journal

| author = Gat, E.

|author2=Others

| year = 1998

| title = On three-layer architectures

| journal = Artificial Intelligence and Mobile Robots

| pages = 195–210

| url = http://www.flownet.com/gat/papers/tla.pdf

| accessdate = 2008-04-06

}}