Creature design with the subsumption architecture

Authors:
Jonathan H. Connell
Affiliations:
MIT Artificial Intelligence Lab, Cambridge MA
Venue:
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
Year:
1987

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Abstract

The mobile robot group at MIT has been building robots using the subsumption architecture. This methodology decomposes a control system into a set of loosely coupled task achieving behaviors. In this paper we show how the constraints inherent in this approach naturally lead to a very simple computational design. To demonstrate its effectiveness we have built a new, small, fast robot based on these ideas. In this paper we discuss the performance of this robot and the theory behind its construction.