Architecting centralized coordination of soccer robots based on principle solution

• Main Authors: Blanes, F. (Author), Guarnizo, J.G (Author), Low, C.Y (Author), Mellado, M. (Author)
• Format: Article
• Language: English
• Published: Robotics Society of Japan 2015
• Subjects: architecture; Architecture; Conceptual design; Conceptual design phase; Decision making; Decision-making systems; Environmental information; Human resource management; Industrial robots; Machine design; Multipurpose robots; Multi-robot coordination; multi-robot systems; Multi-robot systems; principle solution; Principle solution; Robot applications; Robot learning; robot soccer; Robot soccer; Sports; strategy
• Online Access: View Fulltext in Publisher; View in Scopus
• ISBN: 01691864 (ISSN)
• DOI: 10.1080/01691864.2015.1017534

Coordination strategy is a relevant topic in multi-robot systems, and robot soccer offers a suitable domain to conduct research in multi-robot coordination. Team strategy collects and uses environmental information to derive optimal team reactions, through cooperation among individual soccer robots. This paper presents a diagrammatic approach to architecting the coordination strategy of robot soccer teams by means of a principle solution. The proposed model focuses on robot soccer leagues that possess a central decision-making system, involving the dynamic selection of the roles and behaviors of the robot soccer players. The work sets out from the conceptual design phase, facilitating cross-domain development efforts, where different layers must be interconnected and coordinated to perform multiple tasks. The principle solution allows for intuitive design and the modeling of team strategies in a highly complex robot soccer environment with changing game conditions. Furthermore, such an approach enables systematic realization of collaborative behaviors among the teammates. © 2015 Taylor & Francis and The Robotics Society of Japan.