Examples of generic behaviors.

Our initial work has led to several categories of GBs in addition to the usual motive behaviors. Some of these include the following. It should be emphasized that this is a very preliminary list.

• Low-level movement: e.g., attractive, repulsive behaviors.
• Medium-level movement: e.g., obstacle avoidance, physical boundary following, wander.
• Sensor centric: e.g., assess operation, modify sensing mode.
• Effector centric: e.g., assess operation, modify operating mode.
• Homeostatic: e.g., monitor operational envelopes (e.g., depth), monitor energy budget, maintain trim.
• Navigational level: e.g., path planning, situation assessment, searching, exploring, docking.
• Mission level: e.g., plan mission, make maps, assess threat, cooperate (with other agents).
• Communication: message-level communication, discourse-level communication.