  One of the most challenging coordination problems in artificial intelligence
is to achieve successful collaboration across large-scale heterogeneous systems
that include Robots, Agents, and People (RAP). In the best case, these RAP
systems are potentially capable of leveraging the strengths of the individual
entities to achieve complex distributed tasks. However, without intelligent
communication protocols, man-machine partnerships are likely to fail as the
humans become overloaded with irrelevant information. This paper introduces a
communication protocol for man machine systems and demonstrates that its
message routing performance approaches the central optimized solution in a
simulated smart environment scenario.
