Describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which sensory data from the surroundings of the robot are written. The EgoSphere is managed by a distinct agent in a distributed agent-based robot control architecture called the Intelligent Machine Architecture. The paper also describes a human-robot interface and a testbed for evaluating the control system.
['Kazuhiko Kawamura', 'Richard Alan Peters', 'Carlotta Johnson', 'Phongchai Nilas', 'Siripun Thongchai']
Supervisory control of mobile robots using Sensory EgoSphere