Jon Simpson

Mobile Robot Control: The Subsumption Architecture and occam-pi

24 Sep 2006 — subsumption architecture, robot control, occam-pi, publications

An exploration of Brooks’ Subsumption Architecture in combination with the occam-pi language for creating robotic control systems. This paper was presented on September 18, 2006 at Communicating Process Architectures 2006, Napier University, Scotland.


Brooks’ subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.


  title = "{M}obile {R}obot {C}ontrol: {T}he {S}ubsumption {A}rchitecture and occam-pi",
 author = "Jonathan Simpson and Christian L. Jacobsen and Matthew C. Jadud",
  editor= "Frederick R. M. Barnes and Jon M. Kerridge and Peter H. Welch",
  pages = "225-236",
  booktitle= "{C}ommunicating {P}rocess {A}rchitectures 2006",
  publisher = "IOS Press",
  isbn= "1-58603-671-8",
  year= "2006",
  month= "sep",
  keywords = "Mobile robots, Robot control, Subsumption architecture, occam-pi",


A complete list of my publications is also available — bibliography.