Supervisory Control System for Cooperative Agents

In this paper it´s proposed a new hybrid supervisory system (SS) for cooperative agent system´s control. This supervisory system contains fuzzy logic on its many parts, as well as automatons theory, pattern recognition based on integral images, shape recognition and RGB matrix, and a non-linear fuzzy controller properly said. It´s presented as an example the robot soccer competition, which each agent´s action depends as much in another agent´s reaction as on the cooperation of the others. Although the system is highly dynamic, the strategies that rule this system can be seen on a discreet view as a way to select the best strategy to be used easing the work of the motor´s fuzzy controller. Also is proposed a control based on the change of the linear and angular velocities so the computational work can be drag down. The intelligent logic´s implementation based on fuzzy logic is used in many ways such as zone characterization and robot´s control