Summary: Logic­based Subsumption Architecture
Eyal Amir and Pedrito Maynard­Reid II
Computer Science Department
Stanford University
Stanford, CA 94305
feyala,pedmayng@cs.stanford.edu
June 12, 1998
Abstract
In this paper we describe a logic­based AI architecture based on Brooks'
Subsumption Architecture. We axiomatize each of the layers of control in
his system separately and use independent theorem provers to derive each
layer's output actions given its inputs. We implement the subsumption
of lower layers by higher layers using circumscription. We give formal
semantics to our approach.
1 Introduction
In [?], Brooks proposed a reactive architecture embodying an approach to robot
control different on various counts from traditional approaches. He decomposed
the problem into layers corresponding to levels of behavior, rather than accord­
ing to a sequential, functional form. Within this setting he introduced the idea
of subsumption, that is, that more complex layers could not only depend on

Source: Amir, Eyal - Department of Computer Science, University of Illinois at Urbana-Champaign

Collections: Computer Technologies and Information Sciences