Brooks: Layered Augmented Finite State Machine
Description
Simple behaviors, performed by Augmented Finite State Machines, are
hierarchically organized
so that more complex behaviors emerge.
Timers are added to basic Finite State Machine (FSM) to induce
salient, coherent behavior
Inhibition and Suppression between behavior modules provides
distributed control
This system results in
Pre-wired patterns of behavior
Detail from
Brooks' Subsumption Architecture