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[DPRG] Is subsumption old hat?

Subject: [DPRG] Is subsumption old hat?
From: Pete Miles robots at walkingrobots.com
Date: Mon Aug 27 14:17:46 CDT 2007

I'll byte also,

I believe that subsumption has always been used and will always be used.  It is just that fancy names are being attached
to different subtle variations/implementations of the same thing.  Everything reacts to sensor input, and priorities are
assigned to how the system will respond to sensor input.  As more and more sensor input is considered at the same time,
not only is a priority considered, but some form of a weighting to the sensor input is applied.  How all this is put
together is different from developer to developer, but when you break it all down, it is the same thing, subsumption.
Subsumption just isn't the buzzword anymore.  Remember Fuzzy Logic?  It was a buzz word 20 years ago, but isn't really
hyped anymore because people naturally apply it without thinking about it.  Same with subsumption, people used it
without thinking about the word Subsumption.

Subsumption isn't old hat.  It is just a buzzword applied to something that was already being done.


----- Original Message -----
From: "Jeff Koenig" <koenig.jeff at gmail.com>
To: <dprglist at dprg.org>
Sent: Monday, August 27, 2007 10:54 AM
Subject: Re: [DPRG] Is subsumption old hat?

> > Anyone care to defend subsumption, or promote and discuss what
> > followed and should be current now?
> Sure!  I'll take that bait.
> I'm sure the present SOTA (State Of The Art) for those at the
> forefront of robotics research involves very high level
> object-oriented languages and custom boards with lots of memory,
> powerful processor(s), lots of mapped sensors, etc.  Custom hardware
> requires custom firmware, and I'm betting few of us have the means to
> produce a complex board, burn FPGA's or CPLD's, and tweak a compiler
> to use the board's memory map.
> So, if like me, your robot's brain consists of an 8 or 16 bit
> microcontroller and a small handful of ICs, any freeware C compiler
> (or BASIC, or whatever) can be used for subsumption.
> Debugging subsumption's neat-o, too.  Your robot can have a few
> external switches to set flags to use or supress individual behaviors,
> so you can actually debug your 'bot by flipping switches and
> observing.  I think this feature tends to maximize robot play-time.
> I really like subsumption. I don't know what's presently in vogue, but
> for small microcontrollers and real-life robots, subsumption has
> worked well for me.
> -Jeff
> On 8/21/07, Randy M. Dumse <rmd at newmicros.com> wrote:
> > Hi DPRG members, It's been so quiet here lately, yes, I am
> > deliberately try to stir up discussion, while hoping not to
> > cross the boundary of trolling, still think this is something
> > worth of a good going over.
> >
> > In Introduction to AI Robotics by Robin Murphy, pg 8, she says:
> >
> > "<i> The Reactive Paradigm</i> was a reaction to the Hierarchial
> > Paradigm, and led to exciting advances in robotics. It was
> > heavily used in tobotics starting in 1988 and continuing
> > throught 1992. It is still used, but since 1992 there has been a
> > tendency toward hybrid architecture."
> >
> > 1992? Wow. To listen to the amature groups, it is and still is
> > all the rage. Did robotics move on in the early 1990's, and here
> > over 15 years later, we go on like we never got the word?
> >
> > Anyone care to defend subsumption, or promote and discuss what
> > followed and should be current now?
> >
> > I may be at RBNO later, if anyone wants to take it up in person.
> >
> > Randy
> > www.newmicros.com
> >
> >
> > _______________________________________________
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> > http://list.dprg.org/mailman/listinfo/dprglist
> >
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