Implementation of a subsumption based architecture using model-driven development

This paper describes the implementation of a subsumption architecture by using Model Driven Development in a real-time physical platform. The behaviours are implemented as finite state-machines and are guaranteed to be executed in real-time while avoiding deadlocks. The platform used is compatible with Robot Operating System, which is becoming the de facto standard for robotics applications nowadays. The sensors used for supporting the behaviours implemented are a Light Detection and Ranging and an Inertial Measurement Unit. The main contribution of this paper is in experimentally demonstrating a functional implementation, using Model Driven Development, of a multi-layer subsumption based autonomous robotics control. The paper shows, through experimentation, that the implementation of the architecture is reliable and efficient. With the success of the implementation in one platform, future development of subsumption in multiple platforms may be tried.