A cooperative multi-agent system and its real time application to robot soccer

Author

Kim, J.-H. ; Shim, H.-S. ; Kim, H.-S. ; Jung, M.-J. ; Choi, L.H. ; Kim, J.-O.

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

638

Abstract

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for a soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Modified zone defense as a basic strategy and several special strategies for fouls are applied to SOTY and MIRO teams for MIROSOT (Micro-Robot World Cup Soccer Tournament)

Keywords

cooperative systems; mobile robots; path planning; robot vision; MIRO; SOTY; communication congestion; control structure; cooperative multi-agent system; coordination; fouls; human-like decision making; local information sensing; modified zone defense; position correction; soccer robot system; Communication system control; Control systems; Multiagent systems; Real time systems; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; System testing; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620108

Filename

620108