  Complex robot behaviour typically requires the integration of multiple
robotic and Artificial Intelligence (AI) techniques and components. Integrating
such disparate components into a coherent system, while also ensuring global
properties and behaviours, is a significant challenge for cognitive robotics.
Using a formal framework to model the interactions between components can be an
important step in dealing with this challenge. In this paper we extend an
existing formal framework [Clark et al., 2016] to model complex integrated
reasoning behaviours of robotic systems; from symbolic planning through to
online learning of policies and transition systems. Furthermore the new
framework allows for a more flexible modelling of the interactions between
different reasoning components.
