Reusable Strategies for Software Agents via the Subsumption Architecture

Authors:
Greg Butler;Andrea Gantchev;Peter Grogono
Affiliations:
-;-;-
Venue:
APSEC '99 Proceedings of the Sixth Asia Pacific Software Engineering Conference
Year:
1999

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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 micro-strategies for achieving a particular goal. The software architecture, and the reuse of micro-strategy components, is validated by developing truck agents within the Truckin' simulation game. Guidelines for the development of specific layers and components of a subsumption architecture are also presented.