Subsumption-based architecture for autonomous movement planning for planetary rovers

The paper proposes a new architecture for autonomously generating and managing movement plans of planetary rovers. The system utilizes the uniform representation of the instantaneous subgoals in the form of virtual sensor states and the autonomous generation of the subsumption type plan network, which are expected to lead to the capability to pursue the overall goal while efficiently managing various unpredicted anomalies in a partially unknown, ill-structured environment such as a planetary surface.