Object-Oriented Design of Subsumption Architecture

This paper proposes a method to design the layers of Subsumption Architeture as objects. In this architecture, layers communicate with each other by wires. Generally, it is very difficult to design a connection of wires that enable a robot behave as we intend to. In this architecture, bugs in lower layers are assumed to be fixed, so it is possible to pile up upper layers on the lower layers. However, this connection of complicated wires, so-called a“spaghetti structure” makethe bug fix difficult. While if we design layers independently without wires, although the bug fix becomes easier, it is obviously difficult to make a robot behave as we intend to. Therefore, we propose a method to design object-oriented modules and layered structures of Subsumption Architeture. With this method, not only the bug fix becomes easier but also enable a robot execute planned tasks. In this paper, we apply this method to navigation tasks and show simulations and experimental results of it.