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Human management of a hierarchical control system for multiple mobile agents

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2 Author(s)
Adams, J.A. ; Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA ; Paul, R.

This paper defines 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 levels of a robotic system will permit a human supervisor to maintain the system in a stable state. We have incorporated these hierarchical levels in MASC, a multiple 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

Published in:

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on  (Volume:3 )

Date of Conference:

2-5 Oct 1994

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