Which of these are relevant for reactive control architectures?Group of answer choicesdirect connection between sensors and actuatorsaction arbitrationplanningaction fusioninternal modelsSTRIPSSubsumption architecturereconciling different time scales

The relevant aspects for reactive control architectures are:

1. Direct connection between sensors and actuators: Reactive control architectures rely on a direct connection between sensors and actuators, allowing the system to respond quickly to changes in the environment.

2. Action arbitration: This is a process where multiple competing actions are evaluated and the most appropriate one is selected. This is crucial in reactive control architectures where the system must react to changes in the environment.

3. Action fusion: This is the process of combining multiple actions into a single output. This is important in reactive control architectures where the system may need to perform multiple actions simultaneously in response to changes in the environment.

4. Subsumption architecture: This is a type of reactive control architecture that was developed by Rodney Brooks. It involves layers of control where higher layers can subsume the roles of lower layers if necessary.

5. Reconciling different time scales: Reactive control architectures need to be able to operate at different time scales, responding to immediate changes in the environment while also considering longer-term goals.

The other options mentioned, such as planning, internal models, and STRIPS, are more relevant to deliberative or hybrid control architectures, which involve more complex decision-making processes and often use internal models of the world to plan actions.