Figure 1: The distributed three-layer FIRE architecture.

The FIRE Project is being built as a distributed three-layered system (Figure 1). Each robot in the system has a planning layer that is responsible for market interactions, scheduling, planning, and coordinating these activities with the planning layers of other robots. Plans and tasks that must be executed are sent to the executive layer that decomposes these into behaviors/actions and establishes the necessary coordination mechanisms with other executives. Commands are send from the executive to the behavior layer, which provides low-level control, and interacts closely with the robot hardware and the behavior layers of other robots for coordination purposes.

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