![]() The higher layers, having relaxed time constraints, are capable of reasoning from an abstract world model and performing planning. The layers form a hybrid intelligent system in which the lowest, reactive layers are sub-symbolic. The lower layers have local tasks, goals, and sensations, and their activities are planned and coordinated by higher layers which do not generally override their decisions.Each higher layer of the tree operates with a longer interval of planning and execution time than its immediately lower layer. ![]() ![]() The two distinguishing features of a hierarchical control system are related to its layers. Nodes may also exchange messages with their siblings. Commands, tasks and goals to be achieved flow down the tree from superior nodes to subordinate nodes, whereas sensations and command results flow up the tree from subordinate to superior nodes. Hierarchical control systems are organized similarly to divide the decision making responsibility.Įach element of the hierarchy is a linked node in the tree. For example, a command hierarchy has among its notable features the organizational chart of superiors, subordinates, and lines of organizational communication. A human-built system with complex behavior is often organized as a hierarchy.
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