Object-oriented design of the subsumption architecture

Abstract

The 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.