@InProceedings{Posso11,
  title =        "{P}rocess-{O}riented {S}ubsumption {A}rchitectures in {S}warm {R}obotic {S}ystems",
  author=        "Posso,  Jeremy C. and Sampson,  Adam T. and Simpson,  Jonathan and Timmis,  Jon",
  editor=        "Welch, Peter H. and Sampson,  Adam T. and Pedersen,  Jan Bækgaard and Kerridge,  Jon and Broenink,  Jan F. and Barnes,  Frederick R. M.",
  pages =        "303--316",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2011",
  isbn=          "978-1-60750-773-4",
  year=          "2011",
  month=         "jun",
  abstract=      "Previous work has demonstrated the feasibility of using
     process-oriented
programming to implement simple subsumption
     architectures for robot
control. However, the utility and
     scalability of process-based
subsumption architectures for
     more complex tasks and those involving
multiple robots has
     not been proven. We report our experience of
applying these
     techniques to the implementation of a standard
     foraging
problem in swarm robotics, using occam-\π to
     implement a subsumption
control system. Through building a
     system with a realistic level of
complexity, we have
     discovered both advantages and disadvantages to
     the
process-oriented subsumption approach for larger robot
     control systems."
}