School of Computing

Mobile Robot Control: The Subsumption Architecture and occam-pi

Jonathan Simpson, Christian L. Jacobsen, and Matthew C. Jadud

In Peter H. Welch, Jon M. Kerridge, and Frederick R. M. Barnes, editors, Communicating Process Architectures 2006, volume 64 of Concurrent Systems Engineering Series, pages 182-196, Amsterdam, The Netherlands, September 2006. IOS Press.

Abstract

Brooks' subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.

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Bibtex Record

@inproceedings{2867,
author = {Jonathan Simpson and Christian L. Jacobsen and Matthew C. Jadud},
title = {{M}obile {R}obot {C}ontrol: {T}he {S}ubsumption {A}rchitecture and occam-pi},
month = {September},
year = {2006},
pages = {182-196},
keywords = {determinacy analysis, Craig interpolants},
note = {},
doi = {},
url = {http://www.cs.kent.ac.uk/pubs/2006/2867},
    publication_type = {inproceedings},
    submission_id = {23412_1234149071},
    ISBN = {1-58603-671-8},
    booktitle = {Communicating Process Architectures 2006},
    editor = {Peter H. Welch and Jon M. Kerridge and Frederick R. M. Barnes},
    volume = {64},
    series = {Concurrent Systems Engineering Series},
    address = {Amsterdam, The Netherlands},
    publisher = {IOS Press},
    ISSN = {1383-7575},
    refereed = {yes},
}

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