Planning for Distributed Agents in Dynamic Workspace

摘要

The major contribution of this paper is to construct the plan of distributed agents that can be changed in realtime. This paper focuses on real-time planning and decision-making of soccer agents that work cooperatively toward the plan in dynamic environment using Link-up graph algorithm. Planning can keep agents work corporately, however to construct plans that can be changed in real-time requires complex mechanisms. To create a plan that agents work cooperatively within a team, a Link-up graph (LUG) algorithm has been proposed. The idea of Link-up graph is to link the agents in the same group by using lines to represent the connections between agents. These lines can descriSe the cooperative level of agents in the same group, and are used to create a link-up plan. Since the environment can be changed rapidly, the plan has to be flexible enough to change in real time. To demonstrate the potential of LUG, soccer has been used as a test bench for evaluating cooperative behavior.