Sequential Behavior for Intelligent Control in Subsumption-Like Architecture

A subsumption-based controller for controlling operation of a system that interacts with an environment, comprising:

• a plan execution subsystem comprising a plurality of sequential behavioral nodes, each configured to generate a respective plan for controlling the system, each respective plan comprising a sequence of activities to be performed by the system;
• a plan selector node configured to select one of the respective plans for execution, wherein the plan selector node selects the one of the respective plans for execution based on relative priorities of the sequential behavioral nodes;
• and
• an activity selection subsystem that receives the selected plan and executes the selected plan;
• wherein the activity selection subsystem comprises a plurality of activity nodes, at least one of the activity nodes being associated with an activity in the sequence of activities included in the selected plan;
• and
• wherein, in executing the plan, the at least one of the activity nodes generates a control signal for controlling an actuator of the system to perform the associated activity.

A method for controlling operation of a system that interacts with an environment, comprising:

• obtaining, by a plurality of sequential behavioral nodes, a plurality of plans for controlling the system, each plan comprising a sequence of activities to be performed by the system;
• selecting one of the respective plans for execution based on relative priorities of the sequential behavioral nodes;
• and
• executing the selected plan.

A subsumption-based controller configured for operation of a system that interacts with an environment, the subsumption-based controller comprising:

• processing circuit;
• memory coupled with the processing circuit, wherein the memory includes instructions that when executed by the processing circuit causes the subsumption-based controller to perform operations comprising:
• obtain by a plurality of sequential behavioral nodes, a plurality of plans for controlling the system, each plan comprising a sequence of activities to be performed by the system;
• select one of the respective plans for execution based on relative priorities of the sequential behavioral nodes;
• and
• execute the selected plan.