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Human-Managed, Hierarchical Control of Multiple Mobile Agents

Summary: Human-Managed, Hierarchical 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
In this paper we describe MASC, a Multiple Agent Supervisory Control system which
will provide a human supervisor with the capabilities to interact at various hierarchical
levels with a multiple mobile agent system. This hierarchy of mediation allows the agents
of the system to request assistance from the human when necessary. It also provides
the supervisor with the ability to assume control of the agent's when they enter a state
from which they are incapable of self correction. We describe the levels of the mediation
hierarchy, their implementations, and their system control implications. Our goal is to
create a semi-autonomous system which successfully executes all feasible task.
1 Introduction
Autonomous robotic systems execute tasks until they enter an unrecoverable state. When
such a state is entered, the robot may either deliberate inde nitely over a solution, shut it-
self down automatically, or a human may enter the environment and physically assist the


Source: Adams, Julie A. - Department of Electrical Engineering and Computer Science, Vanderbilt University


Collections: Engineering; Computer Technologies and Information Sciences