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Object‐oriented design of the subsumption architecture
Author(s) -
Butler Greg,
Gantchev Andrea,
Grogono Peter
Publication year - 2001
Publication title -
software: practice and experience
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.437
H-Index - 70
eISSN - 1097-024X
pISSN - 0038-0644
DOI - 10.1002/spe.396
Subject(s) - computer science , architecture , layer (electronics) , object (grammar) , set (abstract data type) , object oriented programming , robot , software architecture , software engineering , computer architecture , artificial intelligence , software , programming language , art , chemistry , organic chemistry , visual arts
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.