ASTELD: A Six-Axis Classification Framework for Autonomous AI Agents - Design, Evaluation, and an OpenClaw Case Study

Computer Science > Cryptography and Security [Submitted on 5 Aug 2026] ASTELD: A Six-Axis Classification Framework for Autonomous AI Agents - Design, Evaluation, and an OpenClaw Case Study Siyuan Li, Peng Shu, Churan Yu, Peilong Wang, Ruidong Zhang, Bowen Guo, Xinliang Li, Ruiyu Yan, Arif Hassan Zidan, Yi Pan, Wei Ruan, Lifeng Chen, Junhao Chen, Zhaojun Ding, Yiwei Li, Zhengliang Liu, Haixing Dai, Lin Zhao, Yu Bao, Xiang Li, Wei Zhang, Tianming Liu Autonomous AI agent platforms differ substantially in architecture, security, tool integration, execution, autonomy, and deployment, yet the field lacks a common classification scheme for comparing these design choices. We propose ASTELD, an operational six-axis classification framework for autonomous AI agents: Architecture pattern, Security posture, Tool integration model, Execution paradigm, Level of autonomy and human control, and Deployment topology. ASTELD is constructed by synthesizing prior agent taxonomies with observable platform properties and explicit category-assignment rules. We evaluate its discriminative and explanatory utility by mapping eight representative frameworks and by using OpenClaw as an in-depth case study. The resulting profiles separate all eight platforms under their dominant configurations and reveal three cross-platform patterns: a security-accessibility diagonal, strong execution-architecture coupling, and capability convergence with persistent architectural differentiation. We further classify 50+ OpenClaw derivatives and find that innovation concentrates on the Security, Execution, and Deployment axes, indicating that ASTELD can explain where ecosystem fragmentation occurs. The OpenClaw case study also supplies a six-category vulnerability taxonomy, evidence from five institutional assessments, and adoption and governance analyses that connect platform coordinates to observed risks. These results position ASTELD as a reproducible method for comparing agent platforms, identifying unoccupied design regions, guiding framework selection, and organizing future empirical research. The analysis also exposes a consequential empty region: none of the evaluated systems combines local-first deployment with enterprise-grade security. Comments: 40 pages, 4 figures, 6 tables. Introduces and empirically evaluates the ASTELD six-axis classification framework across eight autonomous AI agent platforms, with OpenClaw as an in-depth case study Subjects: Cryptography and Security (cs.CR); Artificial Intelligence (cs.AI) Cite as: arXiv:2608.05201 [cs.CR]   (or arXiv:2608.05201v1 [cs.CR] for this version)   https://doi.org/10.48550/arXiv.2608.05201 Focus to learn more Submission history From: Siyuan Li [view email] [v1] Wed, 5 Aug 2026 05:05:20 UTC (49 KB) Access Paper: HTML (experimental) view license Current browse context: cs.CR < prev   |   next > new | recent | 2026-08 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Export BibTeX Citation Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Demos Related Papers About arXivLabs Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)