Forums InfoTech 2017 virtual forum Authors: Roumen Trifonov, Galya Pavlova Technical University of Sofia, Sofia (Bulgaria) read paper paper -an intersting paper, it would be nice to see some code how different modules are implemented -is it possible to give by an example that the proposed hierarchical approach outperforms authoritative system by imposed rules -the authors claim that there system is dynamic, this means that the system is able to handle dynamic changes in the environment? but how? -currently some robot systems use a probabilistic way of reasoning, a Bayesian approach. Next futur the authors plan to use a probabilistic approach? paper It would be nice to apply methods and algorithms in the field of Machine Learning. paper A nice paper on actual topic. There is an interesting approach to decision-making by an autonomous mobile agent. A six-legged robot application is described in detail. A minor question: “The selection of the specific coordinator is done in the coordinator block.” - it would be interesting to briefly mention what the coordinator block is?