Ok, this is probably like what the fifth or sixth post I''ve made, but I almost have my project down haha. Well I''m going to do a comparison of two autonomous subjective navigation systems. I''m trying to get a lot of sources of different ways that this has been done. I want to ideally, take a reactive system and then extend it for method 2 to include a planning component. But I''m running into the problem that most people either made a reactive or hybrid system, but didn''t evolve the second from the first. Any ideas on reactive systems that could be expanded to encompass planning? Also, failing the above idea, I was thinking of comparing two versions of a subsumption architecture, one with command arbitration, and second with fuzzy command fusion. Any help would be great, thanks!

Hi again Doveyman...

Check out this paper I dug up recently (available online):

Boella, G., and Damiano, R. "A Replanning Algorithm for a Reactive Agent Architecture". In D. Scott, editor, Artificial Intelligence: Methodology, Systems, and Applications, LNCS 2443, pages 183-192. Springer Verlag, 2002.

Cheers,

Timkin