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Experiments with the subsumption architecture

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2 Author(s)
Hartley, R. ; US Naval Res. Lab., Washington, DC, USA ; Pipitone, F.

The subsumption architecture (SA) is a special case of behavior-based control for robotics. Behavioral modules are added as `layers', with each layer performing a complete behavior. Higher-level behaviors override lower level ones by taking control of their effectors or manipulating their internal states. The control layers are built of finite-state machines connected by links that act essentially like wires. A prototype airplane controller made with the architecture was developed. This controller flies a simulated aircraft from take-off to landing and was run on a C-based implementation of the subsumption architecture. It was noted that the SA as currently defined is not sufficiently modular, a clean interface between different behaviors would be desirable, and a more general relationship than strict hierarchy between high-level and low-level modules is required. None of these problems is insoluble within the behavior-based approach, but all must be solved if realistic problems are to be dealt with. Some candidate solutions are given

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991