Paper Details

Communicating Process Architectures (CPA)
 Title: Process-Oriented Subsumption Architectures in Swarm Robotic Systems
 Conference: Communicating Process Architectures 2011
 Authors: Jeremy C. Possoa, Adam T. Sampsonb, Jonathan Simpsonc, Jon Timmisd
(a) Department of Computer Science, University of York
(b) School of Arts, Media and Computer Games, Abertay University
(c) School of Computing, University of Kent
(d) Department of Electronics, University of York
 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. 
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