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This paper presents a hybrid control architecture based on subsumption and schemas motors principles in order to achieve complex and cooperative tasks. The control architecture implemented is constituted by a set of independent and elementary behaviors organized in layers of skills. Specific low-level behaviors, called altruistic behaviors and inspired by societies of insects (attractive or repulsive signals), are used to improve the efficiency of the control. Therefore, competitive anddoi:10.1109/robot.2004.1308846 dblp:conf/icra/AdouaneF04 fatcat:lsbay5fzbndb5iod5kuumtzx4y