Old is new again. Figure 1(a) is cascade control (the higher level operates by means of the lower) and 1(b) is the subsumption architecture (the higher level operates instead of the lower).
I don’t know why they call 1(b) “open loop”. The loop looks closed to me.
I wonder if the authors have considered using arbitrarily many layers of control.
Old is new again. Figure 1(a) is cascade control (the higher level operates by means of the lower) and 1(b) is the subsumption architecture (the higher level operates instead of the lower).
I don’t know why they call 1(b) “open loop”. The loop looks closed to me.
I wonder if the authors have considered using arbitrarily many layers of control.