subsumption advantages (according to brooks)
Provides a way to incrementally build and test a complex mobile robot control system
Supports parallel computation in a straightforward, intuitive way
Avoids centralized control; relies on self-centered and autonomous modules
Leads to more emergent behavior -- “Complex (and useful) behavior may simply be the reflection of a complex environment”
- Compare with SPA - intelligence is entirely in the design of the planner (the programmer)