Human supervisory control of multiple mobile agents

This paper discusses the process integrations which implement the mediation hierarchy in the multiple agent supervisory control (MASC) system interface. This interface is employed in a multiple mobile robotic system. The mediation hierarchy permits the human supervisor to interact with the various level of the robotic system either upon an agents request or when the supervisor deems intervention necessary. The general concept behind the mediation hierarchy is that it will create a semi-autonomous system which is capable of successfully completing feasible tasks