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[DPRG] Roomba subsumption
Subject: [DPRG] Roomba subsumption
From: John Swindle
swindle at compuserve.com
Date: Tue Dec 12 13:20:05 CST 2006
Folks:
I bought a Roomba at Sam's Club and I'm wondering if subsumption
architecture is implemented correctly in the Roombas. I would
think that obstacle avoidance and remaining upright would be
behaviors that could not be bypassed, but Roomba ignores these
behaviors when it seeks home base. Even though the user cannot
command Roomba to drive over a cliff using the remote control,
Roomba will gladly drive itself over a cliff when it seeks home
base! It doesn't seek a safe path; it just dives over the cliff.
And, when Roomba is near home base, Roomba forgets how to avoid
obstacles and starts banging into the same obstacle until the
batteries run down. (By the way, the obstacle is not between
Roomba and home base. And this is not the "circle dance"
problem.)
See you at RBNO.
John Swindle
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