Navigation by combining reactivity and planning

Presents a system for intelligent robot navigation. Its main feature is the ability to integrate goal directed planning with information acquisition from the external world, and with reaction to failure. This ability is obtained by means of a two-layered architecture: the higher (strategical) level controls the activation of the modules of the lower (navigation) level, which can perform, in different ways, basic tasks such as path planning, activation of navigation and processing of information acquired from the external environment. By programming the strategical level with the suitable strategies, the system can control navigation with sophisticated modalities