Unsatisfied Goal-Oriented Formations UGF

This paper introduces the Unsatisfied Goal Oriented Formations model, UGF, which improves the formations level of Multiresolution Cooperation Control MRCC approach. The proposed UGF model is generic and extensible, it has as key elements: a component to detect needs based on goals satisfaction, the flexibility and dynamics of the formation by negotiation mechanisms, and the conjugation of specialized roles to manage opportunities, needs and exception cases. The development of the UGF model is based on the identification of issues and solutions involved in the design of a formation manager, obtained by evaluating different author´s approaches. The model has been validated, in simulation and in real robots, for the case of robotic soccer.