Paper Info
Title
Multi-robot team coordination through roles, positionings and coordinated procedures
Abstract
The coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup middle-size league (MSL), are presented. The approach, which relies on information sharing and integration within the team, is based on formations, flexible positionings and dynamic role and positioning assignment. Role/positioning assignment follows a new priority-based algorithm that maintains a competitive formation, covering the most important roles/positionings when malfunctions lead to a reduction of the team size. Coordinated procedures for passing and setplays have also been implemented. With this design, CAMBADA reached the 1st place in the RoboCup'2008 world championship. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354286
IROS
Keywords
Field
DocType
robocup middle-size league,team size,important role,flexible positionings,real competition game,multi-robot team coordination,coordinated procedure,robotic soccer team,positioning assignment,dynamic role,competition result,data mining,robot kinematics,games,mobile robots
Computer science,Robot kinematics,Control engineering,Software,Artificial intelligence,Robot,World championship,Mobile robot,Information sharing,Multirobot systems,Process management
Conference
Citations 
PageRank 
References 
5
0.63
29
Authors
4
Name
Order
Citations
PageRank
Nuno Lau18112.70
Luís Seabra Lopes215426.98
Gustavo Corrente3101.68
Nelson Filipe491.32