| | |
Summary: Human Management of a Hierarchical Control System for Multiple
Mobile Agents 1
Julie A. Adams and Richard Paul
General Robotics and Active Sensory Perception Laboratory
Department of Computer and Information Science
The University of Pennsylvania
3401 Walnut Street, Room 301C Philadelphia PA 19104-6228
Abstract
This paper de nes a hierarchy of human supervisory
mediation levels into a robotic system. This interaction
creates a semi-autonomous system which should enable
completion of all feasible tasks. We propose that the
increased interaction between the supervisor and all lev-
els of a robotic system will permit a human supervisor
to maintain the system in a stable state. We have in-
corporated these hierarchical levels in MASC, a Mul-
tiple Agent Supervisory Control system which provides
the human supervisor with a three dimensional graphical
user interface. Our current test bed includes four mobile
robots, of which two are equipped with manipulators.
|
