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subsumption programming architecture - tutorial


This is a good tutorial to understand the concepts of subsumption robot programming.

as html:

or as a pdf:

What is subsumption? Well what if your gps sensor says your robot is 3 feet away from its goal, but your IR sensors say there is a big cliff 1 foot in front. How does your robot decide which sensor to use? Obviously the average sensor values wont work . . .

The basic theme is: more important things override less important things.

Here's another good write-up:

Two different approach to attain the same goal.

Also, code is not in C, but I love it. It's a totally different programming paradigm.

- Rommel


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