(There are other ways to augment FiniteStateMachine''''''s; this page is in relation to RodneyBrooks' work in particular.)

FiniteStateMachine''''''s + timers + LinkStrengthArithmetic.

RodneyBrooks has advocated (and achieved a fair amount of success with) SubsumptionArchitecture for robotics, composed entirely of FiniteStateMachine''''''s augmented with timers. Google returns no relevant hits for "link strength arithmetic".