  The aim of this paper is to provide a sound framework for addressing a
difficult problem: the automatic construction of an autonomous agent's modular
architecture. We combine results from two apparently uncorrelated domains:
Autonomous planning through Markov Decision Processes and a General Data
Clustering Approach using a kernel-like method. Our fundamental idea is that
the former is a good framework for addressing autonomy whereas the latter
allows to tackle self-organizing problems.
