Package dlife.robot.controllers.subsumption

Support for creating a Controller based on Brooks' Subsumption Architecture.

See:
Description

Class Summary

Behavior	A behavior for a SubsumptionController.
Inhibitor	An inhibitor node for use in SubsumptionControllers.
SubsumptionController	Controller based upon the Subsumption Architecture.
SubsumptionController.Signal	Representation of a signal that is passed between behaviors.
Suppressor	A suppressor node for use in SubsumptionControllers.

Exception Summary

DuplicateOutputKeyException	Exception thrown by a SubsumptionController when a Behavior specifies an output key that has already been specified by another Behavior.
UnknownKeyException	Exception thrown by a SubsumptionController when a Behavior requests the value for a key that does not exist in the behavior output map.

Package dlife.robot.controllers.subsumption Description

Support for creating a Controller based on Brooks' Subsumption Architecture. See Rodney Brooks' paper A Robust Layered Control System for a Mobile Robot for the original description of the subsumption architecture.

NEED TO WRITE A DESCRIPTION AND AN EXAMPLE HERE

DIAGRAM WITH KEYS LABELED and CORRESPONDING TEMPLATE CODE

The implementation in this package is very similar to Brooks' original description. The one significant difference is that Suppressor and Inhibitor nodes do not have a time associated with them.