%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.