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