Mobile Robot Control The Subsumption Architecture and occam-pi
Jonathan Simpson, Christian L. Jacobsen, Matthew C. Jadud · Kent Academic Repository (University of Kent) · 2006
Brooks' subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.