Behavior Coordination in the Internet-based Multi-robot Teleoperation System

The Internet-based teleoperation has become a popular research topic during the recent years. More and more fields are being involved and one of them is the multi-robot systems. Multi-robot systems have the ability to perform better in a complex environment; however, it is difficult for the robots to complete tasks autonomously, thus a human operator is needed to contribute his ability to direct the behaviors of the robots. Now the Internet can be used as the bridge between the human operator and the multi-robot system. In this paper the behavior coordination of the multiple robots directed by a human operator via the Internet is studied. The architecture of the human directed multi-robot system is presented and a hierarchical automaton model is proposed to describe the decision-making process for the behavior coordination of the Internet-based multi-robot system. An Internet-based telerobot soccer system is built based on these methods and the details of the system are described.