Paper Details

Communicating Process Architectures (CPA)
 Title: Mobile Robot Control: The Subsumption Architecture and occam-pi
 Conference: Communicating Process Architectures 2006
 Authors: Jonathan L. Simpson, Christian L. Jacobsen, Matthew C. Jadud
Computing Laboratory, University of Kent
 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. 
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