https://flownet.com/ron/papers/tla.pdf https://flownet.com/ron/papers/tla.pdf >In retrospect, in the story of the three-layer architecture there may be more to

https://flownet.com/ron/papers/tla.pdf https://flownet.com/ron/papers/tla.pdf >In retrospect, in the story of the three-layer architecture there may be more to be learned about research methodology than about robot control architectures. For many years the field was bogged down in the assumption that planning was sufficient for generating intelligent behavior in situated agents. That it is not sufficient clearly does not justify the conclusion that planning is therefore unnecessary. A lot of effort has been spent defending both of these extreme positions. Some of this passion may be the result of a hidden conviction on the part of AI researchers that at the root of intelligence lies a single, simple, elegant mechanism. But if, as seems likely, there is no One True Architecture, and intelligence relies on a hodgepodge of techniques, then the three-layer architecture offers itself as a way to help organize the mess.