Subsumption architecture

Résumé

Subsumption architecture is a reactive robotic architecture heavily associated with behavior-based robotics which was very popular in the 1980s and 90s. The term was introduced by Rodney Brooks and colleagues in 1986. Subsumption has been widely influential in autonomous robotics and elsewhere in real-time AI. Overview Subsumption architecture is a control architecture that was proposed in opposition to traditional symbolic AI. Instead of guiding behavior by symbolic mental representations of the world, subsumption architecture couples sensory information to action selection in an intimate and bottom-up fashion. It does this by decomposing the complete behavior into sub-behaviors. These sub-behaviors are organized into a hierarchy of layers. Each layer implements a particular level of behavioral competence, and higher levels are able to subsume lower levels (= integrate/combine lower levels to a more comprehensive whole) in order to create viable behavior. For example, a

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https://en.wikipedia.org/wiki/Subsumption_architecture

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Subsumption architecture

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction