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中文摘要：
针对半自主侦察机器人监控系统应该具有分布的智能、局部的自主能力和开放的系统构架的要求，建立了基于多代理机制的监控系统。系统主要分成感知代理、车体驱动代理、事务执行代理、操作员接口代理、数据管理代理等部分，这些代理又可以是由若干个代理协同工作的组合代理，代理之间采用控制驱动的协调方法。然后，分别介绍了感知代理、事务执行代理、人一机器人接口代理中主要代理的功能和实现方法。实验测试表明，系统满足侦察机器人的监控要求，具有很好的灵活性和扩展性。
英文摘要：
In order to meet the needs of opening framework with distributed intelligences and local autonomous capacities of supervisory control system for semi-autonomous reconnaissance robot system, a software architecture based on multi-agent system is built up. The whole system is divided into perception agent, vehicle driver agent, mission execution agent, human-robot interface agent, and data management agent. These agents may be compound agents which also consist of two or more agents. The coordination mechanism between agents is control drive method. One or two agents＇ functions and implement method of each of perception agent, mission execution agent, and human-robot interface agent are described. Experimental tests show the supervisory control system meet the requirements of reconnaissance robot system. And it is adaptable and extendable.
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