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    <p>Partial answer from RM of the CSGnet list: <a href="https://listserv.illinois.edu/wa.cgi?A2=ind1312d&amp;L=csgnet&amp;T=0&amp;P=1261" rel="nofollow">https://listserv.illinois.edu/wa.cgi?A2=ind1312d&amp;L=csgnet&amp;T=0&amp;P=1261</a></p> <blockquote> <ol> <li><p>Forget about the levels. They are just suggestions and are of no use in building a working robot.</p></li> <li><p>A far better reference for the kind of robot you want to develop is the CROWD program, which is documented at <a href="http://www.livingcontrolsystems.com/demos/tutor_pct.html" rel="nofollow">http://www.livingcontrolsystems.com/demos/tutor_pct.html</a>.</p></li> <li><p>The agents in the CROWD program do most of what you want your robot to do. So one way to approach the design is to try to implement the control systems in the CROWD programs using the sensors and outputs available for the NXT robot.</p></li> <li><p>Approach the design of the robot by thinking about what perceptions should be controlled in order to produce the behavior you want to see the robot perform. So, for example, if one behavior you want to see is "avoidance" then think about what avoidance behavior is (I presume it is maintaining a goal distance from obstacles) and then think about what perception, if kept under control, would result in you seeing the robot maintain a fixed distance from objects. I suspect it would be the perception of the time delay between sending and receiving of the ultrasound pulses.Since the robot is moving in two-space (I presume) there might have to be two pulse sensors in order to sense the two D location of objects.</p></li> <li><p>There are potential conflicts between the control systems that you will need to build; for example, I think there could be conflicts between the system controlling for moving in a circular path and the system controlling for avoiding obstacles. The agents in the CROWD program have the same problem and sometimes get into dead end conflicts. There are various ways to deal with conflicts of this kind;for example, you could have a higher level system monitoring the error in the two potentially conflicting systems and have it make reduce the the gain in one system or the other if the conflict (error) persists for some time.</p></li> </ol> </blockquote>
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    1. COThanks for the concise answer, I've completed the system design and I've implemented 2 layers because according to my supervisor I had to follow that hierarchy. So The final design consisted of 2 levels (intensity and sensation) + a reorganization node that should handle the conflicts between the 2 behaviors. I've noticed that you might be working with the team from PCT website (Dr. Mansell and Prof. Forssell) and I've already forwarded a copy of my dissertation to them.
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    2. COHere is the repo where you will find my build of the system and a link to the dissertation --> https://github.com/YMG/PerceptualControlTheory-vs.-Subsumption-Test-Cases
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