Abstract
Coordination in multi-robot or multi-agent systems has been receiving special attention in the last years and has a prominent role in the field of robotics. In the robotic soccer domain, the way that each team coordinates its robots, individually and together, in order to perform cooperative tasks is the base of its strategy and in large part dictates the success of the team in the game. In this paper we propose the use of Utility Maps to improve the strategic positioning of a robotic soccer team. Utility Maps are designed for different set pieces situations, making them more dynamic and easily adaptable to the different strategies used by the opponent teams. Our approach has been tested and successfully integrated in normal game situations to perform passes in free-play, allowing the robots to choose, in real-time, the best position to receive and pass the ball. The experimental results obtained, as well as the analysis of the team performance during the last RoboCup competition show that the use of Utility Maps increases the efficiency of the team strategy.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Neves, A., Azevedo, J., Lau, N., Cunha, B., Silva, J., Santos, F., Corrente, G., Martins, D.A., Figueiredo, N., Pereira, A., Almeida, L., Lopes, L.S., Pedreiras, P.: CAMBADA soccer team: from robot architecture to multiagent coordination, chapter 2, pp. 19–45. I-Tech Education and Publishing, Vienna, January 2010
Veloso, M., Bowling, M., Achim, S., Han, K., Stone, P.: The cmunited-98 champion small robot team (accessed February 27, 2014)
Stone, P.: Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer. MIT Press (2000)
Reis, L.P., Lau, N., Oliveira, E.C.: Situation based strategic positioning for coordinating a team of homogeneous agents. In: Hannebauer, M., Wendler, J., Pagello, E. (eds.) ECAI-WS 2000. LNCS (LNAI), vol. 2103, pp. 175–197. Springer, Heidelberg (2001)
Lau, N., Lopes, L.S., Corrente, G.: CAMBADA: information sharing and team coordination. In: Proc. of the 8th Conference on Autonomous Robot Systems and Competitions, Portuguese Robotics Open - ROBOTICA 2008, pp. 27–32, Aveiro, Portugal, April 2008
Dashti, H.A.T., Aghaeepour, N., Asadi, S., Bastani, M., Delafkar, Z., Disfani, F.M., Ghaderi, S.M., Kamali, S.: Dynamic positioning based on voronoi cells (DPVC). In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 219–229. Springer, Heidelberg (2006)
Akiyama, H., Noda, I.: Multi-agent positioning mechanism in the dynamic environment. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 377–384. Springer, Heidelberg (2008)
Elfes, A.: Using occupancy grids for mobile robot perception and navigation. Computer 22(6), 46–57 (1989)
Rosenblatt, J.K.: Utility fusion: map-based planning in a behavior-based system. In: Zelinsky, A. (ed.) Field and Service Robotics, pp. 411–418. Springer, London (1998)
Chaimowicz, L., Kumar, V.: Mario Fernando Montenegro Campos. A paradigm for dynamic coordination of multiple robots. Auton. Robots 17(1), 7–21 (2004)
Spaan, M.T.J., Groen, F.C.A.: Team coordination among robotic soccer players. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds.) RoboCup 2002. LNCS (LNAI), vol. 2752, pp. 409–416. Springer, Heidelberg (2003)
Santos, F., Almeida, L., Lopes, L.S., Azevedo, J.L., Cunha, M.B.: Communicating among robots in the robocup middle-size league. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS, vol. 5949, pp. 320–331. Springer, Heidelberg (2010)
Lau, N., Lopes, L.S., Corrente, G., Filipe, N., Sequeira, R.: Robot team coordination using dynamic role and positioning assignment and role based setplays. Mechatronics 21(2), 445–454 (2011)
Trifan, A., Neves, A.J.R., Cunha, B., Azevedo, J.L.: UAVision: a modular time-constrained vision library for soccer robots. In: Bianchi, R.A.C., Akin, H.L., Ramamoorthy, S., Sugiura, K. (eds.) RoboCup 2014. LNCS, vol. 8992, pp. 490–501. Springer, Heidelberg (2015)
Silva, J., Lau, N., António, J.R., Neves, A.J., Azevedo, J.L.: World modeling on an MSL robotic soccer team. Mechatronics 21(2), 411–422 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Neves, A.J.R., Amaral, F., Dias, R., Silva, J., Lau, N. (2015). A New Approach for Dynamic Strategic Positioning in RoboCup Middle-Size League. In: Pereira, F., Machado, P., Costa, E., Cardoso, A. (eds) Progress in Artificial Intelligence. EPIA 2015. Lecture Notes in Computer Science(), vol 9273. Springer, Cham. https://doi.org/10.1007/978-3-319-23485-4_43
Download citation
DOI: https://doi.org/10.1007/978-3-319-23485-4_43
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23484-7
Online ISBN: 978-3-319-23485-4
eBook Packages: Computer ScienceComputer Science (R0)