Experimental analysis of the mediation hierarchy theory

The combination of autonomous and supervisory control methods should permit the creation of a semi-autonomous system capable of completing all feasible tasks. We have developed the multiple agent supervisory control (MASC) system based upon the mediation hierarchy theory to create such a system. We briefly describe this system and the mediation hierarchy. The purpose of this paper is to review the results from experimental testing as they pertain to the mediation hierarchy. We present the experimental design methodology, statistical results as well as their interpretation.