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In this paper we discuss an hybrid architecture, including reactive and deliberative behaviors, which we have developed to confer autonomy to unmanned robotics systems. Two main features characterize our work: on the one hand the ability for the robot to control its own autonomy, and on the other hand the capacity to evolve and to learn.

HARPIC, an Hybrid Architecture Based on Representations, Perceptions, and Intelligent Control: A Way to Provide Autonomy to Robots