%T Mobile Robot Control: The Subsumption Architecture and occam\-pi
%A Jonathan Simpson, Christian L. Jacobsen, Matthew C. Jadud
%E Peter H. Welch, Jon Kerridge, Frederick R. M. Barnes
%B Communicating Process Architectures 2006
%X Brooks\[rs] 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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