Robot Soccer World Cup

RoboCup 2015: Robot World Cup XIX pp 276-289 | Cite as

Context-Based Coordination for a Multi-Robot Soccer Team

  • Francesco Riccio
  • Emanuele Borzi
  • Guglielmo Gemignani
  • Daniele Nardi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9513)

Abstract

The key issue investigated in the field of Multi-Robot Systems (MRS) is the problem of coordinating multiple robots in a common environment. In tackling this issue, problems concerning the capabilities of multiple heterogeneous robots and their environmental constraints need to be faced. In this paper, we introduce a novel approach for coordinating a team of robots. The key contribution of the proposed method consists in exploiting the rules governing the scenario by identifying and using “contexts”. The robots actions and perceptions are specialized to the current context to enhance both single and collective behaviors. The presented approach has been largely validated in a RoboCup scenario. In particular, we adopt a soccer environment as a testing ground for our algorithm. We evaluate our method in several testing sessions on a simulator representing a virtual model of a soccer field. The obtained results show a substantial improvement of the team adopting our algorithm.

Keywords

Multi-robot coordination Context-awareness RoboCup soccer 

References

  1. 1.
    Abeyruwan, S., Seekircher, A., Visser, U.: Dynamic role assignment using general value functionsGoogle Scholar
  2. 2.
    Farinelli, A., Iocchi, L., Nardi, D., Ziparo, V.A.: Task assignment with dynamic perception and constrained tasks in a multi-robot system. In: ICRA, Barcelona, Spain, pp. 1535–1540 (2005)Google Scholar
  3. 3.
    Iocchi, L., Nardi, D., Piaggio, M., Sgorbissa, A.: Distributed coordination in heterogeneous multi-robot systems. Auton. Rob. 15(2), 155–168 (2003)CrossRefGoogle Scholar
  4. 4.
    Luo, L., Chakraborty, N., Sycara, K.: Multi-robot assignment algorithm for tasks with set precedence constraints. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 2526–2533. IEEE (2011)Google Scholar
  5. 5.
    Stone, P., MacAlpine, P., Barrera, F.: Positioning to win: a dynamic role assignment and formation positioning system. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS, vol. 7500, pp. 190–201. Springer, Heidelberg (2013)Google Scholar
  6. 6.
    Nardi, D., Adorni, G., Bonarini, A., Chella, A., Clemente, Giorgio, Pagello, Enrico, Piaggio, Maurizio: ART99 - azzurra robot team. In: Veloso, M.M., Pagello, E., Kitano, H. (eds.) RoboCup 1999. LNCS (LNAI), vol. 1856, pp. 695–698. Springer, Heidelberg (2000)CrossRefGoogle Scholar
  7. 7.
    Stone, P., Veloso, M.: Task decomposition, dynamic role assignment, and low-bandwidth communication for real-time strategic teamwork. Artif. Intell. 110, 241–273 (1999)CrossRefMATHGoogle Scholar
  8. 8.
    Vail, D., Veloso, M.: Multi-robot dynamic role assignment and coordination through shared potential fields. In: Schultz, A., Parker, L., Schneider, F. (eds.) Multi-Robot Systems. Kluwer (2003)Google Scholar
  9. 9.
    Weigel, T., Gutmann, J.S., Dietl, M., Kleiner, A., Nebel, B.: CS Freiburg: coordinating robots for successful soccer playing. IEEE Trans. Rob. Autom. 18(5), 685–699 (2002)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Francesco Riccio
    • 1
  • Emanuele Borzi
    • 1
  • Guglielmo Gemignani
    • 1
  • Daniele Nardi
    • 1
  1. 1.Department of Computer, Control, and Management EngineeringSapienza University of RomeRomeItaly

Personalised recommendations