I have tried various societies of A.s.a. H. agents. In a pandemonium-like configuration* all agents see the input and the one with the strongest response takes control. Another configuration has a single ("supervisory") agent receive the input and then select which (one or more) specialist agent(s) the input is sent to for response.** A third configuration is similar to Rod Brooks' subsumption architecture but the levels/behaviors and an arbiter are each replaced with an A.s.a. H. specialist agent. The behavior specialist agents all receive the input and propose output responses. The "arbiter" receives the original input and all the proposed outputs from the behavior agents and then generates an eventual output for the society. Details have varied depending on the problems/tasks being attempted.
* Due to Oliver Selfridge in 1959.
** For a large enough society with many specialists the signal can instead go into a tree of supervisory agents which route the input down to the specialist(s).
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