Lecture
Subsumption architecture for cognitive control
Description
This lecture introduces the Subsumption Architecture (SA) developed by Rodney Brooks, a layered control system for mobile robots that allows them to operate at increasing levels of competence by suppressing lower level outputs. The system is robust, flexible, and intended for robots to navigate office environments. It covers embodied intelligence, design principles of robot control systems, layered control, subsumption design process, task decomposition, and modules implementation.
Official source
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