A spatial model for intelligent multirobot systems acting in competitive environments

摘要

This paper presents a synthetic representation of space, useful for multirobot systems acting in real-world or in simulated environments. The proposed model associates every direction of a polar robot-centered map to a real value. This parameter suggests the goodness of a particular direction for the behaviour in act. Some experiments in the RoboCup Simulation environment proved this representation is efficient and suitable for systems under real-time constraints.