1986 IEEE
Brooks presented the initial research on the subsumption architecture here. Subsumption was originally designed to provide several benifits to the programers of mobile robots. It is supposed to allow the user to design modular reusable components, handle multiple sensor input, and deal with possibly inaccurate sensor results. The utility of subsumption was demonstraighted with the construction of both a physical agent capable of navigating a dynamic enviroment as well as a software simulation. The initial robot was only programed for navigation but additional tasks were planned to further show off the capabilities of subsumption. Subsumption was also shown to be very reusable and able to overcome noisy sensor data.
Link: A Robust Layered Control System for a Mobile Robot – PDF
Bibtex:
@article{basicSubsump,
Author = {Rodney Brooks},
Date-Modified = {2008-04-07 17:18:04 -0400},
Journal = {IEEE JOURNAL OF ROBOTICS AND AUTOMATION},
Number = {1},
Pages = {14–23},
Publisher = {IEEE},
Title = {A Robust Layered Control System for a Mobile Robot},
Year = {1986}}