ARCHITECTURE OF COOPERATION FOR MULTI-ROBOT SYSTEMS

André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Luis Paulo Reis
2006 IFAC Proceedings Volumes  
This paper presents a new architecture for coordinating multiple autonomous robots in the execution of cooperative tasks. The architecture is based on the definition of a strategy that uses different tactics, setplays and roles. Roles enable to configure individual behaviour by performing specific tasks using a given set of actions. The proposed architecture allows flexible and efficient multi-robot operation in dynamic environments. The paper also presents an application of the proposed
more » ... cture to a complex domain such as middle-size robotic soccer. Our architecture is also generally enough to be applied in different robotic soccer leagues and similar multi-robot problems.
doi:10.3182/20061002-2-br-4906.00009 fatcat:pd7atvc365co3oxqbxqjrwf6fu