Skip main navigation

New lower prices! Get up to 50% off 1000s of courses. 

Explore courses

Subsumption Architecture

Find out more about Rodney Brook's subsumption architecture in this article.
Multiple ERICs
© University of Reading
In the examples this week, the robots have simple behaviour: e.g. they seek lights or avoid them depending on whether they can see a light then. In previous weeks, in the exercises, you defined what the robot should do at one moment just on the basis of its sensors at that time.

In each case there is very simple behaviour, but in practice more is needed. In the case of predator prey, if the predator is next to the food the prey wants to eat, it is probably better (unless it is very quick) for the prey to go and look for food elsewhere.

In effect, there are two forms of behaviour – get food – avoid being eaten – and the robot has to decide which is more important: one behaviour should have priority over the other.

Rodney Brook’s subsumption architecture addresses this:

  • Different commands have different levels
  • Higher level commands subsume lower level ones
  • They may even inhibit lower level ones
  • If a high level command is missing, the robot can still operate, though at a reduced capacity.

Here is an example:

Suppose a robot is to explore its environment by:
  • following the lights it sees,
  • avoiding loud noises and
  • avoiding other obstacles.
It will have sensors for lights, noises and obstacles It will have behaviour for each of these sensors It will have an overarching ‘explore’ behaviour All of these will combine to drive the motors

Rodney Brooks is an emeritus professor renowned for his work on robotics. He is also the founder of Rethink robotics – the company that makes Baxter.

© University of Reading
This article is from the free online

Begin Robotics

Created by
FutureLearn - Learning For Life

Reach your personal and professional goals

Unlock access to hundreds of expert online courses and degrees from top universities and educators to gain accredited qualifications and professional CV-building certificates.

Join over 18 million learners to launch, switch or build upon your career, all at your own pace, across a wide range of topic areas.

Start Learning now