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A cooperative architecture based on social insects

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Figure

Figure 1: An overview of the architecture showing thethree parallel spheres of operation and the Object Listlinking them.
Figure 2: All motor action functions follow this basictemplate. The Green Blocks represent sections that areuniversal, only the rounded boxes are specific to eachaction
Figure 3: The behaviour selection and execution processes. Note that these operate in parallel, behaviour selectionis continuously running
Figure 4: The action block format. The square boxesillustrate what is required, the rounded boxes what thenumber of logical conditions may be used
+3

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