OTHER
Object‐oriented design of the subsumption architecture
Greg Butler, Andrea Gantchev, Peter Grogono
- Year
- 2001
- Citations
- 7
- Access
- Open access
Abstract
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.
Keywords
Computer scienceArchitectureLayer (electronics)Object (grammar)Set (abstract data type)Object-oriented programmingRobotSoftware architectureSoftware engineeringComputer architecture
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