A symbolic solution to intelligent real-time control

Autonomous systems must operate in dynamic, unpredictable environments in real time. The task of ying a plane is an example of an environment in which the agent must respond quickly to unexpected events while pursuing goals at di erent levels of complexity and granularity. We present a system, Air-Soar, that achieves intelligent control through fully symbolic reasoning in a hierarchy of simultaneously active problem spaces. Achievement goals, changing to a new state, and homeostatic goals, continuously maintaining a constraint, are smoothly integrated within the system. The hierarchical approach and support for multiple, simultaneous goals gives rise to multi-level reactive behavior, in which Air-Soar responds to unexpected events at the same granularity where they are rst sensed.