Integration of Reactive and Telerobotic Control in Multi-Agent Robotic Systems
Ali, Khaled Subhi
Arkin, Ronald C.
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Multi-agent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a teleoperator. This enables the whole society to be affected as a group rather than forcing the operator to control each agent individually. The operator is viewed by the reactive control system as another behavior exerting his/her influence on the society as a whole. Simulation results are presented for foraging, grazing, and herding tasks. Teleautonomous operation of multi-agent reactive systems was demonstrated to be significantly useful for some tasks, less so for others.