A recent discussion on the Dallas Personal Robotics Group mailing list led to a series of postings by David P. Anderson about the subsumption architecture he implemented in the control software of his robots, SR04 and jBot. David has compiled his subsumption postings and added references, code samples, and diagrams to help explain his approach in a new article posted on the DPRG website. He also provides links to video of his robots demonstrating the behaviors that result. There is a wealth of useful information here for anyone interested in the real world use of subsumption. For more technical information on the style of subsumption championed by Rodney Brooks, see his paper, Intelligence without representation (PDF format). If you're new to the whole idea and wondering what it's all about, Wikipedia offers a concise explanation of Subsumption architecture.