Subsumption architecture

Subsumption architecture is an AI concept originating from behavioral robotics[?]. It was invented by Rodney Brooks[?] in the late 1980s.

A way of decomposing one complex behaviour into many "simple" layers of increasing more abstract behaviours. Each layer can overrule (subsume) the decision of the overlaying layer, e.g. the lowest obstacle-avoidance layer could choose to overrule the decision to move forward by the eat-food layer.

See also emergent behavior[?].