Subsuption Architecture. Robotic Course presentation Amirali Salehi Abari. Rodney Brooks-1986 MIT. What is Subsuption Architecture?.
Robotic Course presentation
Amirali Salehi Abari
The traditional architecture used for mobile robot control systems -- decomposition into functional modules as follows:
The levels/layers are added from the bottom up, and remain.
Higher-level layers subsume lower-level layers when they
want to take control.
A level can potentially communicate with any other level.
Each behavior may be simple or complex.
Condition for state transition
Outputs during transition