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Lecturer : Toshi T. Doi 05/25/2004

Subsumption Architecture�@‡@ (R. Brooks)

• Module = sensor input + motor out put
  
  
• No central control
  
  
• Layered structure (parallel)
  
  (avoid / wander / explore)
  
  
• Easy to expand
  
  �@�@�@�@(sensors, actuators, modules, layers)