A behavioral architecture for strategy execution in the RoboFlag game

Strategy definition for teams of multiple mobile robots with fewer human operators than robots is a continuing area of research. Before strategies can be defined, the medium upon which they are implemented must be understood. This paper describes the development of a hybrid multi-agent behavioral control architecture used to implement the strategies for game play in the RoboFlag environment. Additionally, the graphical-based human-robotic interface is described. A framework has been built upon which systematic evaluation of strategy definition components can be performed.