Content deleted Content added
Line 52:
# sensory processing, and
# value judgment.
There is also a [[knowledge base|knowledge database]] that represents the node’s best estimate of the state of the world at the
range and resolution that are appropriate for the behavioral decisions that are the responsibility of that node.
These are supported by a knowledge database, and a communication system that interconnects the functional processes and the knowledge database. Each functional element in the node may have an operator interface. The connections to the Operator Interface enable a human operator to input commands, to override or modify system behavior, to perform various types of [[teleoperation]], to switch control modes (e.g., automatic, teleoperation, single step, pause), and to observe the values of state variables, images, maps, and entity attributes. The Operator Interface can also be used for programming, debugging, and maintenance.<ref name="Albus02"/>
=== Five levels of the architecture ===
| |||