---
title: "Creature Design with the Subsumption Architecture"
authors:
  - "Jonathan Connell"
doi: ""
url: "https://ijcai.org/proceedings/1987/227"
pdf: "https://ijcai.org/proceedings/1987/0227.pdf"
venue: "Proceedings of the Tenth International Joint Conference on Artificial Intelligence"
year: 1987
pages: "1124-1125"
track: "Robotics"
keywords:
---

# Creature Design with the Subsumption Architecture

Jonathan Connell

*Proceedings of the Tenth International Joint Conference on Artificial Intelligence*, pages 1124-1125.

## Abstract

The mobile robot group at MIT has been building robots using the subsumption architecture. This methodology decomposes a control system into a set of loosely coupled task achieving behaviors. In this paper we show how the constraints inherent in this approach naturally lead to a very simple computational design. To demonstrate its effectiveness we have built a new, small, fast robot based on these ideas. In this paper we discuss the performance of this robot and the theory behind its construction.