Despite a very strong synergy between Robotics and AI at their early beginning, the two fields progressed widely apart in the following decades. However, we are witnessing a revival of interest in the fertile domain of embodied machine intelligence, which is due in particular to the dissemination of more mature techniques from both areas and more accessible robot platforms with advanced sensory motor capabilities, and to a better understanding of the scientific challenges of the AI–Robotics intersection. The ambition of this paper is to contribute to this revival. It proposes an overview of problems and approaches to autonomous deliberate action in robotics. The paper advocates for a broad understanding of deliberation functions. It presents a synthetic perspective on planning, acting, perceiving, monitoring, goal reasoning and their integrative architectures, which is illustrated through several contributions that addressed deliberation from the AI–Robotics point of view.