Adding a man-machine interface to an architecture for mobile robots

This paper describes a man/machine interface and its integration into a more general architecture for incompletely autonomous mobile robots. The architecture is composed of four levels, the functional level, the control level, the planner level, and the man/machine level. This architecture provides reactivity, execution monitoring and planning. Arguments are given to motivate the need for a man/machine interface for a mobile robot. With this interface, the operator has access to all of the levels of the architecture and this increases the robustness of the overall architecture. Some examples are given