High Quality Content by WIKIPEDIA articles! Allen was the robot which was based on subsumption architecture. It was first introduced by Rodney Brooks and his team in late eighties. Allen was their first robot based on subsumption architecture. It had sonar distance and odometry onboard and used an offboard lisp machine to simulate subsumption architecture. It resembled a footstool on wheels.The third layer makes the robot try to explore. Allen could look for distant places, then tried to reach them. The third layer made the robot look (with its sonars) for distant places and try to head towards them.

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