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Mon, 09 Apr 2007
Subsumption on the SRV-1
The robotics group from University of Kent have posted an update, including code samples, on their work at the AAAI Symposium with the SRV-1 and subsumption architectures using the "Transterpreter" and Occam-Pi programming language.
The photo we posted early of the blackboard flow diagram has been replaced with much nicer graphics of the 3-layer subsumption architecture ...
and there is a very good explanation of subsumption and how it was applied to this particular challenge.
For more information, take a look at their posting here - http://www.transterpreter.org/blog/?p=57. There is also a nice background article here - Mobile Robot Control: The Subsumption Architecture and occam-pi (PDF).
Code samples in occam-pi are found here - subsumption source code, and you can browse the archive for other code samples. Since AAAI, they've added support for some SRV-1 vision functions, so it will be interesting to see what additional behaviors they add. This work is quite exciting, and at some point, we'll hope to other SRV-1 users will dive and experiment with the Transterpreter architecture - it seems to be quite accessible.
Posted Mon, 09 Apr 2007 18:01 | HTML Link | see additional stories ...