Integrating execution, planning, and learning in Soar for external environments
John E. Laird, Paul S. Rosenbloom · 1990
Three key components of an autonomous intelli-gent system are planning, execution, and learning. This paper describes how the Soar architecture supports planning, execution, and learning in un-predictable and dynamic environments. The tight integration of these components provides reactive execution, hierarchical execution, interruption, on demand planning, and the conversion of deliber-ate planning to reaction. These capabilities are demonstrated on two robotic systems controlled by Soar, one using a Puma robot arm and an overhead camera, the second using a small mobile robot with an arm.