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.
Communicating Process Architectures 2011, Peter H. Welch, Adam T. Sampson, Jan Baekgaard Pedersen, Jon Kerridge, Jan F. Broenink, Frederick R. M. Barnes, 2011, pp 303 - 316 published by IOS Press, AmsterdamFiles: Paper (PDF), Slides (PDF)
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