Brooks subsumption architecture?

I am interested in the discussion on the subsumption architecture of Rodney
Brooks and its connection to Power s control hierarchy that took place
probably in the beginning of this year. Could somebody help me find the
archives of it, if any, or send me any other relevant texts, or comments on
the subject? Please respond to my personal e-mail address as I am not a
subscriber to the csg list.
Zlatka Naydenova.


Zlatka Naydenova
de Bavaylei 44, B-1800 Vilvoorde, Belgium
Phone:+32-2-2515813; Fax:+32-2-6412489;