Subsumption architecture is an Artificial intelligence concept originating from behavior based robotics. It was invented by Rodney Brooks and colleagues in the mid to late 1980s.

A subsumption architecture is a way of decomposing one complex behaviour into many simple layers of increasing more abstract behaviours. Each layer can use (subsume) the underlaying layer, e.g. the decision to move forward by the eat-food layer takes in account the decision of the lowest obstacle-avoidance layer.

Brooks work is described in a series of academic papers, many written with students and collaborators such as Pattie Maes and Anita M. Flynn. Key amongst these are, arguably:

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