Human management of a hierarchical control system for multiple mobile agents

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