Issues Relating to the Subsumption Architecure

• There are concerns that the subsumption architecture will not scale well for the additional layers needed for more complex behaviors.
• There may be limits on the capacity of learning and planning given the distributed control structure of the subsumption architecture.
• The lack of a central controller and the necessity of pre-programmed behaviors makes it difficult to distinguish between agent properties, capabilities and behaviors.
• First principle models -- or any complex, computational model -- can not be supported by the simple, layered architecture.