A Generic Multi-Robot Coordination Strateg Layer

João Certo, Nuno Lau, Luis P. Reis
2007 The Proceedings of First International Conference on Robot Communication and Coordination  
Managing a team of heterogeneous robots in a dynamic environment poses a challenging job. In this paper a model for a multi-purpose, real-time, adaptable, strategical coordination layer is presented. Based on previous work developed for the RoboCup Soccer simulation, small-size, middlesize and legged leagues, a generic coordination model was built. As both centralized and distributed environment are handled by the layer, communication was an important factor to consider only introducing a minor
more » ... overhead. A multi-level hierarchical approach was followed with hybrid methods used to switch between concepts. The model was tested with two strategy instances, RoboCup Rescue Simulation and RoboCup Soccer. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of this approach. Index Terms-Distributed coordination of mobile robots. FC Portugal won several World and European championships in different RoboCup soccer leagues in the past seven years. 2 FC Portugal rescue simulation team achieved very good results in RoboCup, including winning a rescue European champion using these coordination methodologies.
doi:10.4108/icst.robocomm2007.2207 dblp:conf/robocomm/CertoLR07 fatcat:klzeguwmbze5hemlpexyvz64vi