Integration of reactive and telerobotic control in multi-agent robotic systems

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 aaected 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 innuence on the society as a whole. Simulation results are presented for foraging, grazing, and herding tasks. Teleau-tonomous operation of multi-agent reactive systems was demonstrated to be signiicantly useful for some tasks, less so for others.