Quote: subsumption architecture for intelligent robots: fixed-topology layers of finite state machines; higher layers can replace or inhibit messages of lower layers

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All the robots implement the same abstract architecture, … task achieving behaviors, and incremental composition through debugging … Each layer in the subsumption architecture is composed … There is no central locus of control. Rather, … [p. 152] Layers are combined through mechanisms we call … [Under suppression, a higher level message replaces all lower level messages on a wire for a predefined period. Under inhibition, a higher level machine inhibits the output of a lower level machine for a predefined period.]   Google-1   Google-2

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