Motion control for micro-robots playing soccer games

The problem of two teams of micro-robots playing a soccer game constitutes an excellent testbed where various aspects of machine intelligence such as visual perception, path-planning, behavior coordination as well as learning need to be integrated. The paper describes the set of algorithms that govern the behavior, of a team of three microrobots playing a soccer game under MIROSOT regulations. These algorithms are structured in three levels: strategy, path-planning and motor control. At the strategy level the motions of individual team players are coordinated against those of the opponent. This is achieved based on the novel mathematical concept of `controllable zone´. The arrangement of the players is optimized in such a way as to maximize the probability of possessing and shooting the ball. This concept leads to a formal mathematical framework to represent behavior-coordinated strategies for shooting, capturing and passing the ball. At the path-planning level a pseudo-optimal path is generated in real time to minimize the time required by the player to perform the desired behavior and the probability to bump into an obstacle. Finally, the motor control level computes the necessary motor commands to keep the robot on the right track. Experimental results of the system are shown