Subsumption architecture
![Figure 1: Abstract representation of subsumption architecture, with the higher level layers subsuming the roles of lower level layers when the sensory information determines it.[9]](/uploads/202502/13/Subsumption_Architecture_Abstract_Diagram5856.png)
Subsumption architecture is a reactive robotic architecture heavily associated with behavior-based robotics which was very popular in the 1980's and 90's. The term was introduced by Rodney Brooks and colleagues in 1986. Subsumption has been widely influential in autonomous robotics and elsewhere in real-time AI.