A Behavior Control Scheme for Multi-Robot Systems under Human Intervention

Abstract

This paper studies the behavioral control of a group of autonomous robots under human intervention, and each agent is modeled by an single integrator. The human-dominated task and robot self-determination task functions are designed, respectively, and they are elaborately merged by the proposed behavioral control framework. The human intervention has the highest authority to change the priority of the tasks. Finally, the case studies show that the proposed method can effectively solve the multi-task conflict problem under human intervention and realize the formation of robots.