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An object-oriented design of a subsumption architecture

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An object-oriented design of a subsumption architecture

Gantchev, Nadia Andrea (2001) An object-oriented design of a subsumption architecture. Masters thesis, Concordia University.

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Abstract

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.
Institution:Concordia University
Degree Name:Theses (M.Comp.Sc.)
Program:Computer Science and Software Engineering
Date:2001
Thesis Supervisor(s):Butler, Gregory
ID Code:1456
Deposited By:Concordia University Libraries
Deposited On:27 Aug 2009 13:19
Last Modified:08 Dec 2010 10:20
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