Object-oriented design of the subsumption architecture

The subsumption architecture is a layered mediator invented by Rodney Brook s for behaviour-based control of robots. The layers are minimally dependent and use minimal communication. We develop an object-oriented software desi gn 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 differ ent microstrategies for achieving a particular goal. Guidelines for the dev elopment of specific layers and components of a subsumption architecture ar e also presented, Copyright (C) 2001 John Wiley & Sons, Ltd.