A Navigation System Based on Subsumption Architecture

We describe a navigation system based on Brooks'subsumption architecture. In the architecture, we use independent theorem proves to derive each layer's outputs given its inputs. We will show that how this architecture can give navigator such advantages as increased robustness, concurrency support, incremental construction and ease of testing. More importantly, it allows multiple goals to be serviced simultaneously and reactively. Finally, this paper presents the logic implementation of the system.