Taken from http://roachnet.wordpress.com/ “Subsumption?” I hear you say, “What’s that?”  Subsumption is a form of behaviour based robotics where multiple behaviours can control a robot using a hierarchical system.  However, don’t take my word for it!  Check out Thom Roach’s great new blog.  He’s written some really ace articles on the subject without reverting to dry stuffy theory like you see in most research papers.  Using clear text and simple diagrams he shows us how you could make a simple robot that uses subsumption to get around.  Be sure to read them in reverse chronological order!