@Article{brooks86a,
  author =	 {Rodney A Brooks},
  title =	 {A Robust Layered Control System for a Mobile Robot},
  googleid =	 {WGWAQkhvBb0J:scholar.google.com/},
  journal =	 {{IEEE} Journal of Robotics and Automation},
  year =	 1986,
  volume =	 2,
  number =	 1,
  pages =	 {14--23},
  month =	 {March},
  abstract =	 {We describe a new architecture for controlling
                  mobile robots. Layers of control system are built to
                  let the robot operate at increasing levels of
                  competence. Layers are made up of asynchronous
                  modules which communicate over low bandwidth
                  channels. Each module is an instance of a fairly
                  simple computational machine. Higher level layers
                  can subsume the roles of lower levels by suppressing
                  their outputs. However, lower levels continue to
                  function as higher levels are added. The result is a
                  robust and flexible robot control system. The system
                  is intended to control a robot that wanders the
                  office areas of our laboratory, building maps of its
                  surroundings. In this paper we demonstrate the
                  system controlling a detailed simulation of the
                  robot.},
  keywords =     {ai robots classic},
  url =		 {http://jmvidal.cse.sc.edu/library/brooks86a.pdf},
  comment =	 {The original subsumption architecture paper.},
  cluster = 	 {13620415004195972440}
}