Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic

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... endent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.