a) name the architectural pattern that you will use to design the robot application. Explain.

b) Draw a component diagram that describes this application architecture

4.1 Consider an autonomous robot running in an office environment. It performs tasks like fetching objects, sending messages, guiding visitors, and night-time surveillance. The robot has to continuously perform three distinct functions: 1) it perceives its dynamic environment with different sensors in order to move and to get orders from human beings, 2) it reasons in order to interpret the perceived data, solve problems and determine actions to be triggered, and 3 ) it acts on the environment. This autonomous robot is controlled by a software application, which performs cognitive and physical tasks, including navigation, environment learning, reasoning, destination planning, route planning, and execution monitoring. These various tasks can be achieved by one or several specialized knowledge sources controlled by a monitor, which combines the obtained outputs to allow the robot to achieve its tasks. A repository is needed by this application to store global information such as the current goals, destination, route, and constraints. It also includes a map which stores static information about the environment and dynamic information related to robot knowledge and previous activities