Designing distributed control architecture for cooperative multi-agent system and its real-time application to soccer robot

摘要

the soccer robot system consists of multi-agents, with highly coordinated operations and movements so as to fulfill specific objectives, even under adverse situations. The coordination of the multi-agent is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed.