The term "__Subsumption Architecture__" was invented by [Rodney Brooks] to describe the software architecture of [behaviour-based robots|BehaviourBasedRobotics], where lower-level behaviours are "subsumed" (suppressed) by higher-level behaviours.

!! Papers

* ''[Subsumption Architecture for the Control of Robots|https://service.robots.org.nz/wiki/attach/SubsumptionArchitecture/Toal%20-%20Subsumption%20Architecture.pdf]'', Daniel Toal, Colin Flanagan, Caimin Jones and Bob Strunz.
* ''[A subsumption architecture for theorem proving?|https://service.robots.org.nz/wiki/attach/SubsumptionArchitecture/BundyA_A%20Subsumption%20Architecture.pdf]'', Alan Bundy

!! Links

* [Subsumption Architecture|https://en.wikipedia.org/wiki/Subsumption_architecture] on Wikipedia
* [Subsumption for the SR04 and JBot Robots |http://www.dprg.org/articles/2007-03a/] by [David P. Anderson|DavidAnderson] of the DPRG


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[{Tag Software BehaviourBasedRobotics}]