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2.
Architecture
number of reasons. First, the output of the two modules are of
different abstract data types. For inhibition the applicability
predicate only needs to generate a single binary output, whereas
the bandwidth of the transfer function is much higher. Second,
this is a recurrent pattern of interaction that is present in many
places within a typical control system. It is also just about the
only place inhibition is actually used. For our robot at least, the
entire arbitration network consists exclusively of suppressor
nodes.
Finally, we have found from experience that applicability
predicates usually contain most of the interestin ...