Collection Task Behavior Network
Escape
Dark-push
Anti-moth
Avoid
Home
Cruise
Bump force
Photocells
IR detectors
Arbiter
Motor Controller
Left
Motor
Right
Motor
Sensing
Intelligence
Actuation
Backs up from walls
Prevents pushing in wrong direction
Drop puck at light
Find and push a puck
Orient to light source
From pg 4, Robot Programming, Joseph L. Jones, McGraw-Hill, 2004.
This is a graphical depiction of the system design aka architecture

Note the divisons devoted to sensing, intelligence and actuation
Intelligence takes input from sensors and sends its output to actuators
Intelligence section is composed of several PRIMITVE behaviors and an arbiter