Process-oriented subsumption architectures in swarm robotic systems

Jeremy C. Posso, Adam T. Sampson, Jonathan Simpson, Jon Timmis*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Previous work has demonstrated the feasibility of using process-oriented programming to implement simple subsumption architectures for robot control. However, the utility and scalability of process-based subsumption architectures for more complex tasks and those involving multiple robots has not been proven.We report our experience of applying these techniques to the implementation of a standard foraging problem in swarm robotics, using occam-π to implement a subsumption control system. Through building a system with a realistic level of complexity, we have discovered both advantages and disadvantages to the process-oriented subsumption approach for larger robot control systems.

Original languageEnglish
Pages (from-to)303-316
Number of pages14
JournalConcurrent Systems Engineering Series
Publication statusPublished - 2011


  • Process-oriented
  • Robotics
  • Subsumption
  • Swarm robotics


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