Task based vs sequential flow of information.
	A vertical decomp slices the problem on the basis of desired external manifestations of the robot control system. That is “behaviors”.
	Behaviors are incremental layers of competence with upper depending on lower  but both running at once,
	with some control over who gets to direct the actuators (priority or arbitration or subsumption).
	Arose from: (Brooks, Science, 91: p 1228)
	Realization (Agre and Chapman) that most of what people do is ot problem-solving or planning but benign, routine activity in a dynamic word. The agent doesn’t have to name the objects in the world and manipulate their symbols, the objects are defined through the interactions of the agent with the world
	Roschenchein and Kaelbling:  you can talk legitimately about an agent’s beliefs and goals but the agent may not  be manipulating symbolic data structures at run time
	Brooks: internal world models are not necessary in addition to being impossible to obtain. Coherent intelligence emerges from separable actions of an agent as they all independently interact with the world and are arbitrated by some priority scheme.