%T Process\-Oriented Subsumption Architectures in Swarm Robotic Systems %A Jeremy C. Posso, Adam T. Sampson, Jonathan Simpson, Jon Timmis %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\-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.