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Complex robot behaviour typically requires the integration of multiplerobotic and Artificial Intelligence (AI) techniques and components. Integratingsuch disparate components into a coherent system, while also ensuring globalproperties and behaviours, is a significant challenge for cognitive robotics.Using a formal framework to model the interactions between components can be animportant step in dealing with this challenge. In this paper we extend anexisting formal framework [Clark et al., 2016] to model complex integratedreasoning behaviours of robotic systems; from symbolic planning through toonline learning of policies and transition systems. Furthermore the newframework allows for a more flexible modelling of the interactions betweendifferent reasoning components.

Online Learning and Planning in Cognitive Hierarchies