To ensure that a module's output to other modules is coherent, each includes an output arbiter. The arbiter has two major tasks: manage conflicts in output, and suppress output from some behaviors. If there is a conflict in the output of two or more behaviors, the arbiter must use whatever knowledge it has available associated with the behaviors and about their respective priorities to decide what to do. It can choose to send only one of the outputs (e.g., from the behavior with the highest priority), or it may, if the outputs allow it, merge the outputs from the behaviors (e.g., by vector addition of desired motions). The arbiter is also responsible for suppressing output from behaviors that are inhibited by others. For example, it should suppress AVOIDANCE's output when DOCKING is active. For this to happen, the arbiter must have access to information about the relative precedence of behaviors as well as known inhibitory relationships between them. Work on conflict resolution will be an important part of the proposed research.