Focused Behavior in Subsumption Focused Behavior in Subsumption Agents under distributed control can suffer from discontinuous behavior as a result of different modules competing for control of the agent.
Subsumptive architectures produce coherent behavior by the use of timers in the state machine .
These timers act to combine the active behaviors into a single emergent behavior. Return to the top of this architecture . Go to a discussion of this capability for multiple architectures .