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Object-oriented design of the subsumption architecture
Software - Practice and Experience, 2001 AbstractThe 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 ...
Greg Butler, Peter Grogono
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Subsumption architecture for motion learning in robots
2012 7th Colombian Computing Congress (CCC), 2012Intelligent control architectures use computational intelligent techniques in order to improve robots performance. This paper shows a control architecture based on subsumption, that uses some computational intelligence techniques. This architecture provides to a robot the ability to learn how to perform a set of specific motions. A genetic algorithm is
Jaime Beltran, Jonatan Gomez
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Hybrid Control Architecture of Mobile Robot Based on Subsumption Architecture
2006 International Conference on Mechatronics and Automation, 2006Control architecture is an important investigative content in mobile robot. After studying the subsumption architecture, a kind of new hybrid architecture is introduced in this article, which is based on the subsumption architecture and integrates the Behaviour Based planning.
Zhu Qidan, Cai Chengtao
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Network-based subsumption architecture for multiple mobile robots system
The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligence Systems, 2012In this paper, a unique multiple mobile robots system is proposed to enable students or mechanical engineers to efficiently learn a subsumption architecture for swarm intelligence. The subsumption architecture is known as one of the behaviour-based artificial intelligences. Each of multiple mobile robots has three wheels driven by DC motors and six PSD
Fusaomi Nagata +2 more
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A Navigation System Based on Subsumption Architecture
2010 International Conference on Measuring Technology and Mechatronics Automation, 2010We describe a navigation system based on Brooks’subsumption architecture. In the architecture, we use independent theorem proves to derive each layer’s outputs given its inputs. We will show that how this architecture can give navigator such advantages as increased robustness, concurrency support, incremental construction and ease of testing.
Yufeng Mo, Yisong Xu
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Evaluation of subsumption architecture controller by wireless multiple mobile robots system
IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 2013Until now, we have proposed a multiple mobile robots system based on wireless communication using simple hardware and software. The controller of the system is developed based on a subsumption architecture to realize a swarm intelligence. The subsumption architecture is constructed in a supervisory PC server.
Akimasa Ōtsuka +2 more
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Experiments with the subsumption architecture
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002The subsumption architecture (SA) is a special case of behavior-based control for robotics. Behavioral modules are added as 'layers', with each layer performing a complete behavior. Higher-level behaviors override lower level ones by taking control of their effectors or manipulating their internal states.
Ralph Hartley, Frank J. Pipitone
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Dynamic subsumption architecture for programming intelligent agents
Proceedings International Conference on Multi Agent Systems (Cat. No.98EX160), 2002This paper describes the application of an organic programming language Gaea in programming complex and flexible multi-agent systems. We consider a soccer game as an example. Using organic programming, we can program soccer players in an extended version of a subsumption architecture, called a dynamic subsumption architecture, which is more flexible ...
Hideyuki Nakashima, Itsuki Noda
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An E-learning System Based on Subsumption Architecture
2010 International Conference on E-Business and E-Government, 2010The loss of feeling is one of the biggest shortcomings in the traditional E-learning system. In order to compensate for this shortfall, we describe a face recognition-based Intelligent E-learning system based on Brooks' subsumption architecture. In this architecture, we implement the subsumption of lower layers by high layers using nonmonotonic ...
Mo Yufeng, Xu Yisong
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