Towards a generic anticipatory agent architecture for mobile robots

An anticipatory agent [1] is a hybrid agent which is able to predict changes of itself and its environment. Such agents prove interesting [2] [3) [4] in embedded systems such mobile robots. Indeed, they combine a reactive fast layer with a cognitive layer capable to perform corrective actions to avoid undesired situations before they occur actually. We present in this paper a generic architecture, that we plan to use as a guideline for developing anticipatory agents embedded into robots for search & rescue missions. Our approach relies on software components in order to explicit the anticipatory mechanisms.