Percepts symbols or Action symbols? Generalizing how all modules interact within a software architecture for cognitive robotics - Marfil, Rebeca; Manso, Luis J.; Bandera, Juan Pedro; Romero Garcés, Adrián; Bandera, Antonio; Bustos, Pablo; Calderita, Luis V.; Gonzalez Dorado, Jose Carlos; Garcia Olaya, Angel; Fuentetaja Pizan, Raquel; Fernandez Rebollo, Fernando (XVII Workshop of physical agents, 2016)