Multi-agent robotic competitions such as RoboCup provide the motivation for a developmental research agenda - one that focuses on the evolution of complete working systems and their cognitive architectures. In this paper, we describe the components and integration of one such system - the 2010 RoboCup Standard Platform League entry rUNSWift. The realtime control architecture employed consists of a hierarchy of modules that implement functions of perception, world-modelling and behaviour generation. The system was successfully deployed in both soccer and challenge competitions.