Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620108
