Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1987 · 136 citations · 0 references
EngineeringComputer ScienceSystems EngineeringDistributed SystemsMobile RoboticsRoboticsDistributed ComputingDistributed ControlDistributed Systems DesignMobile Robot ArchitecturesMobile Robot ControlRobot Control ArchitectureBehavior-based ControlBehavior-based RoboticsDesign MethodologyDistributed Robot ControlDistributed Robot Control ArchitecturesDistributed Robotic SystemsSubsumption ArchitectureSubsumption Reasoning
In this paper we describe the subsumption architecture, a design methodology for multiprocessor control systems. The architecture is based on a new decomposition of problems into task-achieving behaviors. This decomposition allows us to incrementally construct more competent robots by adding new behaviors. We demonstrate this by showing how two different control systems can be built on top of the same set of core behaviors. We have implemented both systems and have run them on a real mobile robot. The details and performance of each will be discussed.