Integration of Reactive and Telerobotic Control in Multi-agent Robotic Systems

摘要

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. 1 Introduction Reactive multi-agent robotic societies can be potentially useful for a wide-range of tasks. This includes operations such as foraging and grazing (e.g., [1,9,6]) which have applicability in service (vacuuming and cleaning), industrial (assembly) and military (convoy and scouting) scenarios. Although promising results have been achieved in these systems to date, purely reactive syst...