A reactive architecture for RoboCup competition

2008 IEEE International Joint Conference on Neural Networks (IEEE World Congress on Computational Intelligence), 2008

Several issues still need to be unraveled in the development of multiagent systems equipped with global vision, as in robot soccer leagues. Here, we underscore three of them (1) real-time constraints on recognition of scene objects; (2) acquisition of environment knowledge; and (3) distribution and allocation of control competencies shared between the repertoire of the agent's reactive behavior, and the central control entity's strategic and deliberative behavior. The objective of this article is to describe the implementation of a distributed and hybrid reactive-deliberative control architecture for a multiagent system, equipped with global vision camera and agent local sensor and cameras. This multiple agent system was developed for application in robot soccer. We present the digital image processing techniques applied, as well as the proposed control architecture aimed at satisfying the constraints of this kind of application. Index Terms-hybrid and distributed control architecture, image processing, robot soccer.

Problem solving in complex domains often involves dynamic environments and the need of learning from previous experience and feedback. It is easy to imagine several situations where a cooperative behavior is needed in order to achieve a global objective between agents. Micro-Robot World Soccer Tournament (MiroSot) initiative gives a good arena for multi-agent research. Robot soccer makes heavy demands in all the key areas of robot technology, mechanics, sensors and intelligence.

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE, 2011

In order to create a cooperative architecture for multiagent systems in robotic soccer, it is necessary to model and understand the human soccer concepts to use and express them computationally. This work presents the main features for a multi-agent cooperative architecture based on human soccer concepts. The architecture can be applied to different categories of RoboCup. To test its performance, an initial development was accomplished for the 2D RoboCup category, obtaining a system able to execute synchronized simple tactics.

4th Latin America IEEE Robotic Symposium / IX Congreso Mexicano de Robotica

1999

This paper describes the hardware and software of the robotic soccer team built at the Freie Universität Berlin which took part in the 1999 RoboCup Championship in Stockholm, Sweden. Our team, the FUFighters, consists of five robots of less than 18 cm horizontal cross-section. Four of the robots have the same mechanical design, while the goalie is slightly different. All the hardware was designed and assembled at the FU Berlin. The paper describes the hierarchical control architecture used to generate the behavior of individual agents and the whole team. Our reactive approach is based on the dual dynamics framework proposed by Jäger, but extended with a third module of sensor readings. Fast changing sensors are aggregated in time to form slowly changing percepts in a temporal resolution hierarchy. We describe the main blocks of the software and their interactions

Engineering Applications of Artificial Intelligence, 2006

SkeletonAgent is an agent framework whose main feature is to integrate different artificial intelligent skills, like planning or learning, to obtain new behaviours in a multi agent environment. This framework has been previously instantiated in a deliberative domain (electronic tourism), where planning was used to integrate Web information in a tourist plan. RoboSkeleton results from the instantiation of the same framework, SkeletonAgent, in a very different domain, the robot soccer. This paper shows how this architecture is used to obtain collaborative behaviours in a reactive domain. The paper describes how the different modules of the architecture for the robot soccer agents are designed, directly showing the flexibility of our framework. r

Abstract—This paper presents the MecaTeam framework, a solution to reduce the effort on developing new soccer teams of robots for the 2D simulation category of the RoboCup. MecaTeam is an object-oriented framework based on features of two robot soccer teams: the MecaTeam 2006 and Uva Trilearn. The architecture of the proposed framework is presented and aspects of its use are discussed.

1998

Team ISIS (ISI Synthetic) successfully participated in the rst international RoboCup soccer tournament (RoboCup'97) held in Nagoya, Japan, in August 1997. ISIS won the third-place prize in over 30 teams that participated in the simulation league of RoboCup'97 (the most popular among the three RoboCup'97 leagues). In terms of research accomplishments, ISIS illustrated the usefulness of an explicit model of teamwork both in terms of reduced development time and improved teamwork exibility. ISIS also took some initial steps towards learning of individual player skills. This paper discusses the design of ISIS in detail, with particular emphasis on its novel approach to teamwork.

2002

Robot soccer is representative for the application of Multi Agent Systems in real-world dynamic situations. Robot soccer contains most of the important elements that are present in real world multi-agent applications, such as perception of dynamic environments, reactive behaviour, team coordination, communication and fusion of information, decision making in the presence of adversary objects. In this paper we will describe the different RoboCup leagues and illustrate the different scientific challenges by the approach taken in the Dutch middle size soccer team: Clockwork Orange.

Lecture Notes in Computer Science, 1998

Team ISIS (ISI Synthetic) successfully participated in the rst international RoboCup soccer tournament (RoboCup'97) held in Nagoya, Japan, in August 1997. ISIS won the third-place prize in over 30 teams that participated in the simulation league of RoboCup'97 (the most popular among the three RoboCup'97 leagues). In terms of research accomplishments, ISIS illustrated the usefulness of an explicit model of teamwork both in terms of reduced development time and improved teamwork exibility. ISIS also took some initial steps towards learning of individual player skills. This paper discusses the design of ISIS in detail, with particular emphasis on its novel approach to teamwork.