Human-managed, hierarchical control of multiple mobile agents

摘要

In this paper we describe MASC, a multiple agent supervisorycontrol system which will provide a human supervisor with thecapabilities to interact at various hierarchical levels with a multiplemobile agent system. This hierarchy of mediation allows the agents ofthe system to request assistance from the human when necessary. It alsoprovides the supervisor with the ability to assume control of the agentswhen they enter a state from which they are incapable of selfcorrection. We describe the levels of the mediation hierarchy, theirimplementations, and their system control implications. Our goal is tocreate a semi-autonomous system which successfully executes all feasibletasks