Behavior-Based Programming

Philosophy

    Behavior-Based Programming is a refinement by Brooks of
his Subsumption Architecture.  Global state has been added in
a manner consistent with the "insect" model.  The hormone system
is abstracted and formalized as a method for making the behavior
of modules a function of a global parameter.  These parameters
may be set to values by modules, but they converge over time
to equilibrium values.


Architecture

    Subsumption architecture defines layers of augmented
Finite State Machines (FSMs).  FSMs are "augmented" with timers.  
Sensors feed information into FSMs, and the FSMs may control
actuator parameters.  FSMs may inhibit (attenuate the signal
of one output wire) or suppress (attenuate the signal on all
output wires) output values of the FSMs on the layers below
them.  In this way, a hierarchy of progressively refining
behaviors may be established.
    Spinoffs of Subsumption Architecture allow a hormonal
system of activations associated with behaviors to resolve
resource allocation conflicts.


Agent Properties



Environment



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