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This paper describes an implementation of the 3 T robot architecture which has been under development for the last eight y ears. The architecture uses three levels of abstraction and description languages which a r e compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviors for dealing with dynamic environments. In recent y ears, other architectures have been created with 1 similar attributes but two features distinguish the 3 T adoi:10.1080/095281397147103 fatcat:g55brk3vd5dahbznddov5dld24