Minglong Li Xiaodong Yi 0002 Yanzhen Wang Zhongxuan Cai Yongjun Zhang Subsumption model implemented on ROS for mobile robots. 1-6 2016 SysCon https://doi.org/10.1109/SYSCON.2016.7490651 conf/syscon/2016 db/conf/syscon/syscon2016.html#LiYWCZ16