Multiagent control systems for robots are considered. A robot is described that is based on treating the existing behavioral agents as simply an enhanced effector command language and designing a higher-level control structure that switches them on and off. It is shown how supervisory control can be added to such a reactive multiagent system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Connell et al. (2002) studied this question.
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