The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal.

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For example Bao et. al developed a multiagent robot Tele-supervision architecture applied to the task of hazardous materials detection [3]. Their system was based on a three-level control

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