Paper Details

Process-Oriented Subsumption Architectures in Swarm Robotic Systems

Authors: Posso, Jeremy C., Sampson, Adam T., Simpson, Jonathan, Timmis, Jon

Abstract:

Previous work has demonstrated the feasibility of using process-oriented programming to implement simple subsumption architectures for robot control. However, the utility and scalability of process-based subsumption architectures for more complex tasks and those involving multiple robots has not been proven. We report our experience of applying these techniques to the implementation of a standard foraging problem in swarm robotics, using occam-π to implement a subsumption control system. Through building a system with a realistic level of complexity, we have discovered both advantages and disadvantages to the process-oriented subsumption approach for larger robot control systems.

Proceedings:

Communicating Process Architectures 2011, Peter H. Welch, Adam T. Sampson, Jan Bækgaard Pedersen, Jon Kerridge, Jan F. Broenink, Frederick R. M. Barnes, 2011, pp 303 - 316 published by IOS Press, Amsterdam

Files: Paper (PDF), Slides (PDF)

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