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From: altenbur@plains.NoDak.edu (Karl Altenburg)
Subject: Re: Brook's Subsumption Architecture
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John Oliva x1545 (jlo@wink.ho.att.com) wrote:
: I am looking for information on Rodney Brook's subsumption architecture for
: robot control.  Preferably, I would like to find something that is more 
: applied than theoretical.  Any software or algorithms related to this work
: would also be of great interest.

There are lots of good articles by Brooks and others, albeit most of them
describe systems in general terms.  If you begin a literature search be sure
to look up behavior based control, reactive control, and autonomous
robots.

A summary of Brooks' behavior control paradigm is:

Rodney A. Brooks. New Approaches to Robotics. Science, v 253, 
pp 1227-1232, September 13, 1991.

A good reference to an early subsumption based robot is:

Jonathan H. Connell.  Minimalist Mobile Robotics: A Colony-style Architecture
for an Artificial Creature. Academic Press, San Deigo, 1990.
ISBN# 0-12-185230-X

This describes Herbert, a soda can collecting robot that acheives its
tasks without any persistant internal state information.

One of the most complete desicriptions of behavior based robots is in:

Joseph L. Jones and Anita M. Flynn.  Mobile Robots: inspiration to
implementation. A K Peters, Wellesly, MA, 1993.
ISBN# 1-56881-011-3

This books describes two robots, TuteBot -- a hardwired reflexive robot; and
the Rug Warrior, a programmable 'pet' robot.

I hope this helps.

--
Karl R Altenburg				altenbur@plains.NoDak.edu
North Dakota State University, Fargo, ND  58105

All things are artificial, for nature is the art of God.  SIR THOMAS BROWNE
