Robot Subsumption DLC.pdf (application/pdf Object)
Brief article explaining Subsumption Architecture on a small-scale, robotic application. This architecture was originally designed by Rodney Brooks (MIT Robotics / iRobot fame) and used in many of groundbreaking studies.
What is it? Basically, it's a method of programming that uses a series of finite state machines (FSMs) to exhibit higher level behavior from very simple behaviors. The more important behaviors subsume the lower ones.