Tapir: the Evolution of an Agent Control Language

Abstract

Tapir is a general purpose, semi-declarative agent control language that extends and enhances the Hierarchical Agent Control (HAC) architecture [1]. Tapir incorporates the lessons learned from developing HAC and makes it easier and faster to create reusable and understandable actions. Tapir has been used in a battalion level war-game simulation, a robot simulator, a simulation of cellular dynamics and a simulation of rodent behavior. The language is built around constructs that define agents, sensors, actions, and messages. It has mechanisms for handling multiple agents, a flexible resource model, and multiple means for structuring concurrent actions. This paper provides an overview of HAC and its shortcomings and then explains how Tapir extends and improves upon it. Report Documentation Page Form Approved OMB No. 0704-0188Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.