DiPRA: A Layered Agent Architecture which Integrates Practical Reasoning and Sensorimotor Schemas

We introduce the layered agent architecture DiPRA (Distributed Practical Reasoning Architecture), composed of an 'intentional' layer, which includes beliefs, plans and goals, and a 'sensorimotor' layer, which includes schemas for situated action. DiPRA's functioning is illustrated and evaluated in a simulated guards-and-thieves scenario. We also discuss the efficacy of the main features of DiPRA, such as the division of labour between off-line planning and on-line specification of action, the grounding of beliefs in sensorimotor interaction and anticipation, the use of bounded resources and knowledge, and the realization of deliberation and means-ends reasoning as intertwined processes.