Lecture #3 introduced the behaviour-based approach to robotics.
Notes are available in two formats:
The textbook does not cover this material.
The classic article on the subsumption architecture is
Brooks, R. A., "Intelligence Without Representation", Artificial Intelligence Journal (47), 1991, pp. 139-159This is well worth reading. For those more interested, a recent paper is:
Brooks, R.A., " From Earwigs to Humans", Robotics and Autonomous Systems, Vol. 20, Nos. 2-4, June 1997, pp. 291-304.