Employing MASC to Control Multiple Mobile Robots

Over the last few decades roboticist have attempted to develop systems which are capable of successfully completing tasks in dynamic environments. Unfortunately, the community has not been as successful with their developments as was once projected. We have previously presented our approach to developing a semi-autonomous system which combines a human supervisor and robotic agents into a team. This paper will briefly review our Mediation Hierarchy theory, the Multiple Agent Supervisory Control (MASC) interface and our robotic test bed. We will also present a description of the experimentation which was performed with this system, review the results and discuss their implications for this system and future semi-autonomous