Object‐oriented design of the subsumption architecture

descriptionPublicationkeyboard_double_arrow_right Article 02 May 2001 English Publisher:WileyJournal:Software: Practice and Experience, volume 31, pages 911-923 (issn: 0038-0644, eissn: 1097-024X,

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Authors: Butler, Greg; Gantchev, Andrea; Grogono, Peter;

doi: 10.1002/spe.396

Object‐oriented design of the subsumption architecture

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Abstract

AbstractThe subsumption architecture is a layered mediator invented by Rodney Brooks for behaviour‐based control of robots. The layers are minimally dependent and use minimal communication. We develop an object‐oriented software design for the subsumption architecture, and demonstrate that each layer can be used as a slot for a set of plug‐and‐play components that implement different microstrategies for achieving a particular goal. Guidelines for the development of specific layers and components of a subsumption architecture are also presented. Copyright © 2001 John Wiley & Sons, Ltd.

Related Organizations

Concordia University Wisconsin
United States
Concordia University
Canada

Keywords

Other programming paradigms (object-oriented, sequential, concurrent, automatic, etc.), Computing methodologies and applications, General topics in the theory of software, subsumption architecture, control of robots

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