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Cooperative Action Control Based on Evaluating Objective Achievements

  • Hikari Fujii
  • Masayuki Kato
  • Kazuo Yoshida
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)

Abstract

This paper deals with a cooperative control method for a multi-agent system in dynamic environment. This method enables a robot to perform flexi-ble cooperation based on the global evaluation of the achievement of objectives. Each robot communicates qualitative evaluation on the achievement level of each objective. Each robot calculates the global evaluation on the achievement of the team objective from the individual evaluation. The evaluation on the ob-jective achievement is abstracted in order to reduce the influence of variation of the evaluation value and the communication load. As an example, the method is applied to the EIGEN team robots for the Middle Size League of RoboCup, since it is necessary for the soccer robots to cooperate each other in dynamic environment. Its effectiveness was demonstrated through the RoboCup 2004 competition.

Keywords

Mobile Robot Achievement Level Robot Team Soccer Robot Communication Load 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Hikari Fujii
    • 1
  • Masayuki Kato
    • 1
  • Kazuo Yoshida
    • 2
  1. 1.School of Science for Open Environmental SystemsKeio University 
  2. 2.Department of System Design EngineeringKeio University 

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