My Ph.D. thesis was about intelligence, robotics and collective behaviour. My contribution to the field of robotics is a new reactive control architecture (action fusion), which is a generalisation of Brook's subsumption, Maes' action selection and Arkin's schema theory.

Action fusion provides a simple yet powerful coordination mechanism, which combines the output of several possibly competing basic behaviours into a (hopefully) meaningful action. Action fusion has been implemented on a group of Khepera robots, which used auditive communication to locate and follow a leader.