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In this work we propose a behaviour-based architecture, which can also be seen as a multi-agent architecture, to control a situated and embodied autonomous mobile robot, under a close sensing action relationship. Pre-existing knowledge can play a meta-level role, being used in order to provide an adviser capability which is combined with the basic reactive feature of the robot. One of the challenges of the behaviour-based approach is the integration and coordination of multiple differentdoi:10.1145/267658.267713 dblp:conf/agents/NevesO97 fatcat:l3q2ishcfrcoln7irdms64o2uy