Gantchev, Nadia Andrea (2001) An object-oriented design of a subsumption architecture. Masters thesis, Concordia University.
The hardware subsumption architecture for robots as developed by Rodney Brooks is implemented in software in an object-oriented way and used for strategies of trucks in the Truckin' simulation game. The subsumption architecture is a layered mediator invented by Rodney Brooks for behaviour-based control of robots. The layers are minimally dependent and use minimal communication. We develop an object-oriented software design 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 different micro-strategies for achieving a particular goal. Guidelines for the development of specific layers and components of a subsumption architecture are also presented.
|Divisions:||Concordia University > Faculty of Engineering and Computer Science > Computer Science and Software Engineering|
|Item Type:||Thesis (Masters)|
|Authors:||Gantchev, Nadia Andrea|
|Pagination:||viii, 46 leaves ; 29 cm.|
|Degree Name:||Theses (M.Comp.Sc.)|
|Program:||Computer Science and Software Engineering|
|Thesis Supervisor(s):||Butler, Gregory|
|Deposited By:||Concordia University Libraries|
|Deposited On:||27 Aug 2009 17:19|
|Last Modified:||08 Dec 2010 15:20|
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