System Architecture

Common Patterns

Hierarchical

Mission Planning
    ↓
Task Planning  
    ↓
Motion Planning
    ↓
Control

Behavior-Based

• Parallel behaviors
• Arbitration
• Priority-based fusion

Software Architecture

• Perception: Sensor processing
• World Model: State estimation
• Planning: Decision making
• Control: Low-level control
• Actuation: Motor control

Deployment Patterns

1. Edge computing
2. Cloud coordination
3. Distributed systems

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