Abstract: The Independent Agents Architecture is a behavior-based architecture for autonomous robots. This architecture decomposes control systems vertically into perception, behavior, and motor control layers. The behavior layer is decomposed horizontally into independent sensorimotor behaviors. This architecture provides a uniform formalism for describing stimulus/response behaviors and a decomposition strategy that can eliminate the need for conflict resolution. Juggler is a balloon bouncing robot using real-time vision which was built with the Independent Agents Architecture.