82 4 Brief Survey of Cognitive Architectures and (except for the lowest level) supervenes over children whose spatiotemporal scope is a sub- set of its own. The action hierarchy takes care of decomposing tasks into subtasks; whereas the sensation hierarchy takes care of grouping signals into entities and events. The modeling /guid- ance hierarchy mediates interactions between perception and action based on its understanding of the world and the system’s goals. In his book [AM01] Albus describes methods for extending 4D/RCS into a complete cognitive architecture, but these extensions have not been elaborated in full detail nor implemented. Plans for next 24 hours SPIE] cece mee Puyo 500 km maps Lele SURROGATEBATTALION so hous 50 km maps SURROGATEPLATOON Tasks relative to distant objects _ a sini —ae 500 m maps VEHICLE PlansfornextSOseconds = t—i(‘S™S Sa Task to be done on objects of attention w ERS | : 50m ee es Mission Package Locomotion - sere 5 maps ~~ ~ [= [warBe] ~ [s [wan |36] ~ [ s? far 86] Suber wa oben ~“| 8 ONS — os FN paths S ee 7 7 Steering, speet ALIA UTA abeanatereane FTES rae Coc ae at eel ae oo er Fig. 4.11: Albus’s 4D-RCS architecture for a single vehicle 4.5.5 PolyScheme Nick Cassimatis’s PolyScheme architecture [Cas07] shares with GLAIR the use of multiple logical reasoning methods on a common knowledge store. While its underlying ideas are quite general, currently PolyScheme is being developed in the context of the “object tracking’ domain (construed very broadly). As a logic framework PolyScheme is fairly conventional (unlike GLATR or NARS with their novel underlying formalisms), but PolyScheme has some unique conceptual aspects, for instance its connection with Cassimatis’s theory of mind, which holds that the same core set of logical concepts and relationships underlies both language and physical reasoning [Cas04]. This ties in with the use of a common knowledge store for multiple cognitive processes; for instance it suggests that e the same c