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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.
Kawamura et al. (Thu,) studied this question.
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