The basic unit of organization in the Subsumption Architecture is the augmented finite state machine (AFSM). Each of these modules performs an independent, low level task such as controlling a particular sensor or actuator. This may be compared with more traditional cognitive architectures which may group all of the sensing or actuator functionality into one architectural module with implementation details considered at lower levels. The simple action produced by the modules can be organized into more complex behavior by use of hierachical layering techniques.
Go to a discussion of this property for multiple architectures.