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The Sensori-Actuator level.

Sensing and acting are paired up at this level to form reflex behaviors. The following reflex behaviors are implemented. Reflexes have direct access to sensors and actuators, and each may use its own representations and implementation strategies; we list the input and output domains.

• Stop reflex 1: bumpers motor controls; if the robot bumps into anything, it stops moving immediately.

• Force limit reflex: motor controls motor sensors motor controls; if the sensed speed is significantly different from the speed control settings, the robot stops moving. This may occur when something is holding the robot back, for instance.

• Attention reflex: camera input motor controls; if anything moves in the robot's peripheral visual field, it stops and turns towards the location of movement.

• Stop reflex 2: camera input motor controls; if anything comes close in the robot's field of view, it stops moving.

• Escape reflex: camera input motor controls; if anything approaches the robot fast, the robot runs away.