%0 Journal Article %1 butler01spe %A Butler, Greg %A Gantchev, Andrea %A Grogono, Peter %D 2001 %I John Wiley & Sons, Ltd. %J Software Practice & Experience %K architecture decision %N 9 %P 911--923 %R 10.1002/spe.396 %T Object-oriented design of the subsumption architecture %U http://dx.doi.org/10.1002/spe.396 %V 31 %X The 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 components that implement different microstrategies for achieving a particular goal. Guidelines for the development of specific layers and components of a subsumption architecture are also presented.

@article{butler01spe, abstract = {The 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 components that implement different microstrategies for achieving a particular goal. Guidelines for the development of specific layers and components of a subsumption architecture are also presented.}, added-at = {2007-03-17T15:34:03.000+0100}, author = {Butler, Greg and Gantchev, Andrea and Grogono, Peter}, biburl = {https://www.bibsonomy.org/bibtex/2a1a08b211ee97af3bb0110edb01e2724/yijunyu}, citeulike-article-id = {573415}, doi = {10.1002/spe.396}, interhash = {4afd557498accd66f5713c66a2fdfb32}, intrahash = {a1a08b211ee97af3bb0110edb01e2724}, journal = {Software Practice \& Experience}, keywords = {architecture decision}, month = May, number = 9, organization = {Department of Computer Science, Concordia University, 1455 de Maisonneuve Blvd West, Montréal, Québec, Canada H3G 1M8}, pages = {911--923}, priority = {2}, publisher = {John Wiley \& Sons, Ltd.}, timestamp = {2007-03-17T15:34:13.000+0100}, title = {Object-oriented design of the subsumption architecture}, url = {http://dx.doi.org/10.1002/spe.396 }, volume = 31, year = 2001 }