Supervisory control of mobile robots using Sensory EgoSphere
K. Kawamura, Richard Alan Peters, C. Johnson, Phongchai Nilas, Siripun Thongchai · 2002
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.