Robots and Finite-State Machines

By Everett F. Carter, Jr.

Dr. Dobb's Journal February 1997

: ARBITRATE
    ( this sequence gives a subsumption behaviour to the system )
    CONTACT_VEC   @ DUP IF EXECUTE EXIT ELSE DROP THEN
    PROXIMITY_VEC @ DUP IF EXECUTE EXIT ELSE DROP THEN
    EXPLORE_VEC   @ DUP IF EXECUTE EXIT ELSE DROP THEN
    WALK_VEC      @ DUP IF EXECUTE EXIT ELSE DROP THEN
;

Example 2: The arbitrator.

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