Illustration of the basic cognitive cycle [35, 81]. As illustrated, an agent, usually referred to as CA faces an environment in a broad sense. The CA repeats the cognitive cycle where he observes the environment, analyzes the collected information and decides the next action to take. Notice that the arrow action could suggest always an action on the environment. This is possible in order to evaluate the reaction on the environment to given stimuli. However, the arrow also suggests an action on the CR in order to adapt to the environment.