tinysoar
TinySoar is an implementation of the Soar artificial intelligence architecture that is intended to run on a memory-constrained device, like a robot. Soar is a "real time" (as opposed to "off-line") performance runtime that incorporates acting, planning, and learning in a rule-based framework.
TinySoar consists of two primary components. The first is a portable, light-weight runtime that implements the Soar decision cycle as a host for a Soar agent. The second is a Tcl extension that is used to create and debug Soar agents, and then export them into a format that can be compiled into the runtime component.
A sample embedding (in fact, the one that inspired the project!) is also included: alternative firmware for the Lego® Mindstorms RCX 2.0 (the old yellow one) that embeds the TinySoar runtime. Using this firmware, you can control a Lego robot with a Soar agent. (Disclaimer: this site is neither endorsed by nor associated with Lego. I'm telling you this because every other Lego Mindstorms site does the same.)