第41页 Machines with an Attitude

Here is the generic recipe for distributed control that Brooks's mobot lab developed. It can be applied to most creations:
1) Do simple things first.
2) Learn to do them flawlessly.
3) Add new layers of activity over the results of the simple tasks.
4) Don't change the simple things.
5) Make the new layer work as flawlessly as the simple.
6) Repeat.
This script could also be called a recipe for managing complexity of any type, for that is what it is.

This gives an idea on how to build a distributed control system.