Subsumption Architecture: Layered Reactive Robot Control

Most robot-programming intros teach a single monolithic loop, but real-world reactive robots are usually built as a stack of independent behaviors that fight for control of the motors. This simulator implements Rodney Brooks' subsumption architecture in 3D: an Avoid-Obstacle layer, a Seek-Light layer and a Wander layer run concurrently, and a fixed priority arbitration lets a higher layer subsume — completely override — a lower one whenever its trigger condition fires. Toggle each layer, change the obstacle density and sensor range, and watch the telemetry panel show exactly which layer is steering the robot from one frame to the next, with no central planner or world model anywhere in the loop.