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When developing general purpose robots, the overarching software architecturecan greatly affect the ease of accomplishing various tasks. Initial efforts tocreate unified robot systems in the 1990s led to hybrid architectures,emphasizing a hierarchy in which deliberative plans direct the use of reactiveskills. However, since that time there has been significant progress in thelow-level skills available to robots, including manipulation and perception,making it newly feasible to accomplish many more tasks in real-world domains.There is thus renewed optimism that robots will be able to perform a wide arrayof tasks while maintaining responsiveness to human operators. However, the toplayer in traditional hybrid architectures, designed to achieve long-term goals,can make it difficult to react quickly to human interactions during goal-drivenexecution. To mitigate this difficulty, we propose a novel architecture thatsupports such transitions by adding a top-level reactive module which hasflexible access to both reactive skills and a deliberative control module. Tovalidate this architecture, we present a case study of its application on adomestic service robot platform.

LAAIR: A Layered Architecture for Autonomous Interactive Robots