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	Subsumption architecture - Wikipedia, the free encyclopedia
		Subsumption architecture is an AI concept originating from behavior based robotics.
		A subsumption architecture is a way of decomposing complicated intelligent behaviour into many "simple" behaviour modules, which are in turn orgnized into layers.
		The first publication mentioning the subsumption architecture is Brooks (1986) --- as of October 2006, Google Scholar shows 3500 citations of that paper.
	en.wikipedia.org /wiki/Subsumption_architecture (382 words)

	Subsumption Architecture
		Subsumption architecture agents are designed to perceive and act.
		Subsumption Agents are explicitly designed for real environments, where they face real-world sensor and actuator problems.
		Subsumption Architecture agents are rational in that they are dedicated agents that try to achieve fixed goals.
	ai.eecs.umich.edu /cogarch2/specific/subsumption.html (461 words)

	NationMaster - Encyclopedia: Subsumption architecture
		In computer science, agent architecture reveres to the blueprints of software agents and intelligent control systems, depicting the arrangement of components.
		Behavior-based robotics or behavioral robotics or behavioural robotics is the branch of robotics that does not use an internal model of the environment.
		A cognitive architecture is a blueprint for intelligent agents.
	www.nationmaster.com /encyclopedia/Subsumption-architecture (662 words)

	[No title]
		Reactive Architectures In sharp contrast to the deliberative architecture is the reactive architecture, where the perception is tied closely to the effector action.
		The main limitation of this architecture is that the robot’s goal must be capable of being represented implicitly in the controller’s structure according to a fixed, pre-compiled ranking scheme.
		Our design utilized the subsumption architecture because it is unrealistic to assume a model of the environment, especially if the robots are to be used in an environment with constant changes e.g., military reconnaissance.
	www.pmg.lcs.mit.edu /~chmoh/6.836/proposal.doc (1534 words)

	Caeneus.org: the Caeneues Architecture an Agent Architecture for Social Games (Site not responding. Last check: 2007-09-11)
		An example of the Subsumption architecture is the Genghis robot (Brooks, 1989); which had six layers: stand up, involuntarily step, involuntarily walk, walk over obstacles, walk competently and chase prey.
		According to Amir (2003); “the [Subsumption] architecture is specifically oriented towards robot control and is not applicable to software-based intelligent agents”.
		We have challenged this belief by using the Subsumption architecture as a pattern for designing the strategic layer of the Caeneus architecture.
	caeneus.org /index.html (696 words)

	SCROB - Subsumption Controlled RObotic Bug
		Subsumption architecture is the result of work by professor Rodney Brooks and the Mobile Robotics Group at the MIT Artificial Intelligence Lab.
		Brooks' subsumption architecture arose from an attempt to escape the confines of traditional robot control methods and provides a way of combining distributed real-time control with sensor-triggered behaviors.
		SCROB is a micro-robot that uses subsumption architecture to implement a variety of different attitudes that are consisted from a hierarchical group of behaviors.
	www.seattlerobotics.org /encoder/200210/prj4/scrob.htm (2208 words)

	Idaho National Laboratory - Adaptive Robotics - Behavior-Based Robotics
		The subsumption architecture originally developed by Brooks in 1986 provided a method for structuring reactive systems from the bottom up using layered sets of rules.
		Subsumption architectures do not require an explicit plan of action.
		Clearly, one of the biggest challenges in designing a subsumption architecture is giving the system the ability to automatically select among behaviors (arbitration).
	www.inl.gov /adaptiverobotics/behaviorbasedrobotics/subsumptionarchitectures.shtml (362 words)

	Dawson Margin Notes On
		Brook’s subsumption architecture has more of an engineering flavor than a cognitive science flavor.
		The subsumption architecture uses the term “behavior” in two different ways.
		“Subsumption is sometimes criticized as being an engineering principle that bears little relationship to designing intelligent systems.” But, the subsumption architecture is a departure from the sense-think-act cycle.
	www.bcp.psych.ualberta.ca /~mike/Pearl_Street/Margin/Pfeifer/chap7.html (999 words)

	[No title]
		As the book presents the ideas of subsumption architecture multiple times across the chapters, I'll summarize the method and then describe the robot systems and their control systems in more detail.
		The intended principle in subsumption architecture is that the higher-level behavior should generally not cause the lower-level to fail.
		In the subsumption architecture, these behavior or activity producers are the layers of a control system design.
	www.d.umn.edu /~cprince/PubRes/Brooks1999/review.txt (2967 words)

	[No title]
		The Autonomic agent architecture features sensors and effectors for interacting with the external environment, layers of reflexive, reactive, and adaptive subsumption agents, components that dynamically model the autonomic system itself and its environment, and components for emotions, planning, and executive-level decision-making.
		Subsumption agent One of the basic tenets of artificial intelligence over the years has been the symbol system hypothesis, posited by Simon in 1969.
		This architecture uses the notion of layers of behaviors, each built upon the lower- level competencies and each responding directly to sensory inputs via effectors on the world.
	www.research.ibm.com /journal/sj/413/bigus.txt (8630 words)

	The Subsumption Architecture
		In Brooks' early machines such as Herbert [Brooks 88] each subsumption agent was composed of a finite state machine implemented by timers and a processor.
		The building of real robots that interacted with the real-world brought out some deficiencies with the subsumption architecture, these were mainly the result of trying to manage large collections of subsumption agents and synchronisation.
		However adding more behaviours to a subsumption machine by hand is a fl art and may have some very unfortunate consequences, this was shown in [Ferrell 93] and [Brooks 90-2].
	www.janus.demon.co.uk /alife/notes/subsump.html (730 words)

	AI Qual Summary: Depth Area: Agent Architectures
		This language allows the user to specify a set of atomic capabilities of the agent, called operators, and the expected effect that executing each of the operators will have on the world, depending possibly on the state of the world in which the operator was executed.
		This is a fundamental hypothesis underlying the SOAR architecture.
		The SOAR architecture introduces subgoals to resolve impasses reached by the decision procedure; the process of detecting impasses and generating subgoals is entirely architectural and task-domain independent.
	www-cs-students.stanford.edu /~pdoyle/quail/notes/pdoyle/architectures.html (16184 words)

	Subsumption Architecture
		The term subsumption refers to an architecture first proposed by Rodney Brooks of the MIT Mobile Robot Lab.
		A subsumption architecture allows the architect of the software to determine which lower-level, self-managed behaviors should be subsumed by other higher-level layers of the architecture.
		Subsumptive architectures are easy to implement on multi-tasking operating systems or parallel processor designs.
	www.acroname.com /robotics/info/concepts/subsumpt.html (230 words)

	Cool Stuff in Computer Science: The Subsumption Architecture
		Brad is referring to the subsumption architecture put forward by Rodney Brooks.
		There are a number of resources available on the net regarding this work, as it has done a great deal to shape how we think about modeling the behavior of things in the real world.
		If you want to discover more about Rodney Brooks and the subsumption architecture, you might start with his homepage, or search the web for terms like "subsumption architecture," "braitenburg vehicles," and so on.
	www.cs-ed.org /blogs/cscs/archives/2004/11/the_subsumption.html (572 words)

	The DinoBot Report
		Brooks is conducting research using an architecture called the subsumption architecture that he presented in [Brooks 1986].
		The subsumption architecture is an expandable, layered architecture where simple behaviors are implemented that can interact with other simple behaviors to produce an intelligent system.
		However, part of the power of the subsumption architecture is it's ease of expandability by just adding more behaviors, and that these new behaviors can interact with existing behaviors to produce completely new system level behaviors.
	members.aol.com /jayfrancis/dinobot/dinobot.html (3651 words)

	Haphazard webpage
		The subsumption architecture was introduced in "A robust layered control system for a Mobile Robot" by Rodney Brooks in 1985.
		Haphazard doesn't implement the subsumption architecture for embodied robots, but is quite content to keep to simulated robots in a simulated world.
		This behaviour is a terminator for a subsumption net, it transforms an input vector to a move command and executes that.
	haphazard.sourceforge.net /documentation/subsumption.html (817 words)

	Logic-based Subsumption Architecture (Site not responding. Last check: 2007-09-11)
		The LSA is a logic-based AI architecture based on Brooks' subsumption architecture.
		We implement the subsumption of lower layers by higher layers using circumscription to make assumptions in lower layers, and nonmonotonically retract them when higher layers draw new conclusions.
		E. Amir and P. Maynard-Reid II, Logic-Based Subsumption Architecture: Empirical Evaluation, AAAI Fall Symposium on Parallel Architectures for Cognition, 2000.
	www-formal.stanford.edu /eyal/lsa (330 words)

	Welcome to AddSearch.co.uk
		Brooks developed the subsumption architecture, where higher layers of behaviour subsume lower ones...
		The Subsumption Architecture Machine (SAM) was built by Jeremy Laycock and myself as the third year project for our BSc degrees.
		In robotics, subsumption architecture has proven an e?ective framework for developing...
	www.addsearch.co.uk /s/u/subsumption_architecture/Index.php (217 words)

	Object Technology Jeff Sutherland: Scrum: Subsumption Architecture and Emergent Behavior
		One could argue that Agile processes emerge architectures by building the simplest possible thing and evolving into more complex behavior by implementing close connection of developers to code, pre-organized patterns of behavior, simple refactoring techniques, no central control, no shared representation, and short daily meetings with face to face communications.
		Brooks' Subsumption architecture was designed to provide all the functionality displayed by lower level life forms, namely insects.
		The Subsumption architecture provides these capabilities through the use of a combination of simple machines with no central control, no shared representation, slow switching rates and low bandwidth communication.
	jeffsutherland.com /2004/12/scrum-subsumption-architecture-and.html (293 words)

	DAI Database: MSc Thesis #92143 (Site not responding. Last check: 2007-09-11)
		This dissertation describes a software system which enables the construction and investigation of subsumption architectures for virtual mobile autonomous agents.
		The agents and their environments can be tailored to the user's needs at two levels: by the creation of unique examples from a kit of components, and the addition of new components to the kit.
		The modular nature of subsumption architecture has been exploited, by its distribution over multiple machines, thus enabling the software to run at "real-time" speeds suitable for experimentation with multiple agents or massively repetitive testing techniques.
	www.dai.ed.ac.uk /daidb/papers/documents/mt92143.html (119 words)

	Subsumption Architecture
		Subsumption architecture is a form of robot control in which the control is divided into layers corresponding to levels of behavior.
		The idea of subsumption is that not only do more complex layers depend on lower, more reactive levels, but that they could also influence their behavior.
		Within subsumption architecture, the controlling structure is an arbitrator.
	cronus.mcs.alma.edu /LMICSE/LabMaterials/AI/Subsumption/subsumption.htm (1199 words)

	Edmund, a semi-reactive, behavior-based architecture
		Edmund is intended to extend behavior-based approaches to artificial intelligence, such as subsumption architecture (Brooks-91-AIJ) to allow for behavior of greater complexity.
		Subsumption architecture stipulates that intelligence should be decomposed into individual behaviors, each of which controls its own sensing and activation.
		Subsumption architecture works well in situations where there is a small number of non-conflicting goals that require behaviors that are fairly homogeneous across the entire of the robot's intended niche (Horswill-93-THESIS,Bryson95).
	www.cs.bath.ac.uk /~jjb/web/edmund.html (1175 words)

	Subsumption Robot Theory
		The theory of Subsumption (from to subsume, meaning to classify, include, or incorporate in a more comprehensive category or under a general principle) is quite nicely described in the summary from the University of Michigan.
		This may be compared with more traditional cognitive architectures which may group all of the sensing or actuator functionality into one architectural module with implementation details considered at lower levels.
		Subsumption Architecture can be characterized as interruptible because it is always pays keen attention to its sensory readings and acts accordingly.
	members.home.nl /b.vandam/lonely/pagina31.html (1145 words)

	Subsumption architecture - Encyclopedia, History, Geography and Biography
		A subsumption architecture is a way of decomposing one complex behaviour into many "simple" layers of increasing more abstract behaviours.
		This encyclopedia, history, geography and biography article about Subsumption architecture contains research on
		Subsumption architecture, See also, External links, Software engineering, Cognitive architecture and Artificial intelligence.
	www.arikah.com /encyclopedia/Subsumption_architecture (434 words)

	Construction Projects \| March 2000 \| BASIC Stamp programming course (7)
		SUBSUMPTION ARCHITECTUREAND ROBOTICBEHAVIOURTo subsume a task is to supersede it with a higher priority task.
		When we speak of subsumption in robotic programming we are describing the process by which one behaviour subsumes, or over-rides another based on an explicit priority that we have defined.
		This behavioural architecture was first described by Dr. Rodney Brooks in his article ”A robust layered control system for a mobile robot” in IEEE Journal of Robotics and Automation, RA-2, April, 14-23, 1986.
	www.elektor-electronics.co.uk /Default.aspx?tabid=28&year=2000&month=3&art=50931&PN=On&SearchText= (95 words)

	The Pioneer
		The objective of this project is to implement the subsumption based robot control architecture proposed by Rodney Brooks of MIT on the ActivMedia Pioneer 1 Robot to complete a soda can retrieval task.
		Rodney Brooks' subsumption based control architecture will be implemented in a fairly standard coding environment to produce an emergent behavior of object retrieval.
		Rodney Brooks first conceived subsumption architecture at MIT in the mid 1980's as a reaction to the difficulties in hierarchical design as a practical technical solution for implementing behavior patterns.
	www.cs.hmc.edu /~dodds/projects/RobS01/Assignment2/PioneerSPRL.htm (5536 words)

	ccd images
		While Brooks based his architecture on the lower levels having the lowest competence with overlying levels of increasing competence and decreasing priority.
		Still, the history of Subsumption Architecture stands firmly on the foundations laid down by Rodney Brooks in 1985.
		For the next version of a Subsumptive Architecture robot, it would be better to use the $1.80 16F628 processor because of its 16 I/O lines will allow a wider degree of sensory inputs and allow a full 4 bits or more of Subsumption to both inputs and outputs.
	www.schursastrophotography.com /robotics/subsumption1.html (3428 words)

	Dr. Dobb's \| A Multithreading Library In C For Subsumption Architecture \| April 15, 2003
		Subsumption architecture, created at the MIT Mobile Robot Lab by Professor Rodney Brooks as a control system for autonomous robots, decomposes the control program in terms of task-achieving layers.
		Starting from the lowest layer, the robot's capabilities are increased by additions of higher and higher layers of competence, with each higher level subsuming and incorporating capabilities of the lower layers by modifying lower layers' behavior.
		A major characteristic of a subsumption architecture implementation is the ability to write concurrent asynchronous executing modules with certain communication capabilities.
	www.ddj.com /dept/cpp/184402443?pgno=5 (2927 words)

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