A Functional Architecture for a Team of Fully Autonomous Cooperative Robots

  • Pedro Lima
  • Rodrigo Ventura
  • Pedro Aparício
  • Luis Custódio
Conference paper

DOI: 10.1007/3-540-45327-X_31

Part of the Lecture Notes in Computer Science book series (LNCS, volume 1856)
Cite this paper as:
Lima P., Ventura R., Aparício P., Custódio L. (2000) A Functional Architecture for a Team of Fully Autonomous Cooperative Robots. In: Veloso M., Pagello E., Kitano H. (eds) RoboCup-99: Robot Soccer World Cup III. RoboCup 1999. Lecture Notes in Computer Science, vol 1856. Springer, Berlin, Heidelberg

Abstract

A three-level functional architecture for a team of mobile robots is described in detail, including the definition of the role assigned to each level, the main concepts involved, and the corresponding implementation for each individual robot. The architecture is oriented towards teams of fully autonomous cooperative robots, able to carry out different types of cooperative tasks. Complexity is reduced by the decomposition of team strategies into individual behaviors, which in turn are composed of primitive tasks. Relationships among robots of the team are modeled upon the joint intentions framework. An application to Robotic Soccer and some of its preliminary results are presented.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Pedro Lima
    • 1
  • Rodrigo Ventura
    • 1
  • Pedro Aparício
    • 1
  • Luis Custódio
    • 1
  1. 1.Instituto de Sistemas e Robótica Instituto Superior TécnicoLisboaPortugal

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