The term "Subsumption Architecture" was invented by Rodney Brooks to describe the software architecture of behaviour-based robots, where lower-level behaviours are "subsumed" (suppressed) by higher-level behaviours.

Papers#

• Subsumption Architecture for the Control of Robots, Daniel Toal, Colin Flanagan, Caimin Jones and Bob Strunz.
• A subsumption architecture for theorem proving?, Alan Bundy

Links#

• Subsumption Architecture on Wikipedia
• Subsumption for the SR04 and JBot Robots by David P. Anderson of the DPRG