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Summary: Human Supervisory Control of Multiple Mobile Agents
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 discusses the process integrations which
implement the mediation hierarchy in the Multiple
Agent Supervisory Control (MASC) system interface.
This interface is employed in a multiple mobile robotic
system. The mediation hierarchy permits the human
supervisor to interact with the various levels of the
robotic system either upon an agents request or when
the supervisor deems intervention necessary. The
general concept behind the mediation hierarchy is that
it will create a semi-autonomous system which is ca-
pable of successfully completing feasible tasks.
1 Introduction
Many have attempted to build autonomous systems
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