A Multi-Agent Based Robot Telesupervision Architecture for Hazardous Materials Detection
This paper focuses on the development of a multiagent based robot telesupervision architecture for hazardous materials detection. By combining the supervisors advanced reasoning capabilities with the robots local autonomous capacities, this architecture is designed to maximize the safety and efficiency of robot supervisors to detect and deal with hazardous materials. The multi-agent framework not only supports instantiation of predefined gents to meet a specific task, but also allows new gents to be integrated. The key feature is that it is sufficiently flexible to support a wide variety of sensors, attachments, task-oriented detection instruments, etc., with regard to physical integration and to support a collaborative and dynamically changing bi-directional human-robot interaction rather than unidirectional human command. We have been using the robot telesupervision architecture in the application of hazardous materials detection for the past several years. Experimental results show it is applicable, adaptable and extendable.
robot telesupervision architecture multi-agent system hazardous materials detection human-robot interaction
Jiatong Bao Yan Guo Aiguo Song Hongru Tang
Department of Instrument Science and Engineering Southeast University Nanjing,Jiangsu Province,China Department of Energy and Power Engineering Yangzhou University Yangzhou,Jiangsu Province,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）