@InProceedings{Simpson06,
  title =        "{M}obile {R}obot {C}ontrol: {T}he {S}ubsumption {A}rchitecture and occam-pi",
  author=        "Simpson,  Jonathan and Jacobsen,  Christian L. and Jadud,  Matthew C.",
  editor=        "Welch, Peter H. and Kerridge,  Jon and Barnes,  Frederick R. M.",
  pages =        "225--236",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2006",
  isbn=          "978-1-58603-671-3",
  year=          "2006",
  month=         "sep",
  abstract=      "Brooks' 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."
}