Embedding cooperation in robots to play soccer game

Robotic soccer provides an opportunity to explore such a challenging research topic that multiple agents (physical robots or sofbots) work together in a realtime, noisy and adversarial environment to obtain specific objectives. It requires each agent can not only deal with infinite unpredictable situations, but also present cooperation with others. The previous researches about cooperation often put emphasis on task decomposition and conflict avoidance among team members. In this paper, we describe a robot architecture, which addresses "scaling cooperation" among robots, and meanwhile keeps each robot making decision independently. The architecture is based on "ideal cooperation" principle and implemented for Small Robot League in RoboCup Experimental results prove its effectiveness and reveal several primary characteristics of behaviors in robotic soccer. Finally, some important problems of future work are discussed