### Summary
This paper divides the problem of character motion into three levels: action selection, steering, and locomotion.  
### Problem
The major problem of this paper is how to decompose a complex set of motivations and possible actions into a hierarchy, so that complex motivations and goals can be broken down into simple locomotion behaviors.
### Methods Used
This paper focuses on steering and locomotion, and gives a few example algorithms for different types of both.
For instance, as steering behaviors, it describes Seek, Flee, Pursuit, Evasion, etc., in addition to the flocking behaviors mentioned in this week's other paper.  For locomotion, it presents simplified models for "flying" and "surface hugging" vehicles.
### Key Ideas 
* Action selection, steering, and locomotion are separable problems
* Locomotion of many different vehicles can be represented with simplified models
* Many complex behaviors can be obtained with simple steering rules, with examples given
* Using this hierarchy, motions can be blended in response to complex motivations