Heuristic search for coordinating robot agents in adversarial domains

This paper presents a search-based, real-time adaptive solution to the multi-robot coordination problem in adversarial environments. By decomposing the global coordination task into a set of local search problems, efficient and effective solutions to subproblems are found and combined into a global coordination strategy. In turn, each local search entails the use of a heuristic evaluation function together with state space pruning to make the search tractable and scalable. Experimental results, using RoboCup as an example domain, demonstrate the effectiveness of the proposed framework on several simplified RoboCup scenarios