This work explains an architecture used in the development of mobile robots, called "Subsumption Architecture". This architecture has autonomy, robustness and extensibility as its main features, and today, it is being used in fields. Because of its power of representation, it can be used in the development of reactive systems, but to achieve this, it is necessary to use some language as the implementation tool. The purpose of this work is to examine the possibility to use the RS language (a language oriented to the development of reactive systems) with this Subsumption Architecture.