db_connect: Could not connect to paper db at "wotug@dragon.kent.ac.uk"<br>
db_connect: Could not connect to paper db at "wotug@dragon.kent.ac.uk"<br>

%T Process\-Oriented Subsumption Architectures in Swarm Robotic Systems
db_connect: Could not connect to paper db at "wotug@dragon.kent.ac.uk"<br>
%A  Jeremy C. Posso,  Adam T. Sampson,  Jonathan Simpson,  Jon Timmis
db_connect: Could not connect to paper db at "wotug@dragon.kent.ac.uk"<br>
%E Peter H. Welch,  Adam T. Sampson,  Jan Bækgaard Pedersen,  Jon Kerridge,  Jan F. Broenink,  Frederick R. M. Barnes
%B Communicating Process Architectures 2011
%X 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\-&pi; 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.