Software architecture for real-time autonomous agents: a case study for digital train system

In this paper, a software architecture for multiple autonomous agents in a real-time environment is described. The software architecture for autonomous agents must effectively connect perception modules, planning modules and action modules. It is necessary to define both an interface and a data flow among different modules. The proposed software architecture connects reactive modules with deliberative modules. The architecture proved its feasibility by controlling a prototype of multiple model digital trains.