Hierarchical control system

Hierarchical control systems are organized similarly to divide the decision making responsibility.

Its Automated Manufacturing Research Facility was used to develop a five layer production control model.

The winning entry, Tartan Racing[2] employed a hierarchical control system, with layered mission planning, motion planning, behavior generation, perception, world modelling, and mechatronics.

[3] Subsumption architecture is a methodology for developing artificial intelligence that is heavily associated with behavior based robotics.

At its lowest levels, the RMA can be implemented as a subsumption architecture, in which the world model is mapped directly to the controlled process or real world, avoiding the need for a mathematical abstraction, and in which time-constrained reactive planning can be implemented as a finite-state machine.

Higher levels of the RMA however, may have sophisticated mathematical world models and behavior implemented by automated planning and scheduling.