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This paper describes a navigation architecture for mobile robots, structured as a set of nested control loops whose depth is related to their knowledge of the environment and the ability to drive the actuator, and involving as well competing behaviors that will ultimately generate the robot motion. The architecture has been successfully used on a mobile platform to support three-dimensional environment reconstruction tasks. The architecture may be classified as belonging to the hybrid type butdoi:10.1177/02783640022068048 fatcat:o26gkhcfcne7li4wxez5opxccy