Figure 9 shows the components of BeCA once the improvement and refinement
processes concerning the construction of the third layer is concluded. At this stage of the
bottom-up construction, BeCA is able to model three types of external behaviours: reflex,
reactive and motivated, the last two of these mediated by action selection. As it can be
appreciated in Figure 9, we have named cognitive to the node related with the external
medium, and motivational to the node related with the internal medium. The cognitive node
interacts directly with the external medium through its sensors and actuators. The motivational
node responds to the different processes related with the motivations that take place at the
level of this node.
Figure 9. BeCA at the stage of the modelling of motivated behaviours.
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