Abstract
To meet the timing requirements set by the RoboCup soccer server simulator, this paper proposes a multi-threaded approach to simulated soccer agents for the RoboCup competition. At its higher level each agent works at three distinct phases: sensing, thinking and acting. Instead of the traditional single threaded approaches, POSIX threads have been used here to break down these phases and implement them concurrently. The details of how this parallel implementation can significantly improve the agent’s responsiveness and its overall performance are described. Implementation results show that a multithreaded approach clearly outperforms a single-threaded one in terms of efficiency, responsiveness and scalability. The proposed approach will be very efficient in multi-processor systems.
Chapter PDF
References
A. Burns and A. Wellings, Real-time Systems and Programming Languages, Addison-Wesley, 1997
R.D. Butenhof, Programming with POSIX Threads, Harlow, Addison-Wesley, 1997
B. Hans-Dieter, et al., AT Humboldt-Development, Practice and Theory, In Proceedings of RoboCup-97-Robot Soccer World Cup I, H. Kitano Editor, 1997, 357–372
H. Hu, M. Brady, F. Du, P. Probert, Distributed Real-time Control of a Mobile Robot, Int. Journal of Intelligent Automation & Soft Computing, Vol. 1,No. 1, 1995, 63–83
H. Hu and M. Brady, A Parallel Processing Architecture for Sensor-based Control of Intelligent Mobile Robots, Int. J. of Robotics and Autonomous Systems, Vol. 17,No. 4, 1996, 235–258
H. Kitano, RoboCup: The Robot World Cup Initiative. Proceedings of the 1st Int. Conference on Autonomous Agent (Agents-97)), Marina del Ray, The ACM Press, 1997
H. Kitano, M. Tambe, P. Stone, M. Veloso, S. Coradeschi, E. Osawa, H. Matsubara, I. Noda, and M. Asada, The RoboCup Synthetic Agent Challenge’97. Proceedings of International Joint Conference on Artificial Intelligence, 1997
K. Kostiadis and H. Hu, Reinforcement Learning and Co-operation in a Simulated Multi-agent System, Proc. of IROS’99, Korea, October 1999
N. Nissanke, Real-time Systems, London, Prentice Hall, 1997
I. Noda, Soccer Server: A Simulator for RoboCup. JSAI AI-Symposium 95: Special Session on RoboCup, 1995
I. Noda, Kappa: Agent Program by Gaea. Proceedings of the 2nd RoboCup Workshop, July 1998, 387–392
W.R. Stevens, Unix Network Programming: Networking APIs: Sockets and XTI (Volume 1), London, Prentice-Hall (1998)
P. Stone and M. Veloso and P. Riley, The CMUnited-98 Champion Simulator Team, In “RoboCup-98: Robot Soccer World Cup II”, M. Asada and H. Kitano eds., Springer Verlag, Berlin, 1999.
B. Stroustrup and S. Lippman, Pointers to Class Members in C++. Proc. USENIX C++ Conf., Denver, 1988, 305–326
G. S. Virk, J. M. Tahir, P. K. Kourmoulis, Parallel Processing in Aerospace Control Systems, Proc. the 2nd Int. Conference on Applications of Transputers, UK, July 1990
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kostiadis, K., Hu, H. (2000). A Multi-threaded Approach to Simulated Soccer Agents for the RoboCup Competition. In: Veloso, M., Pagello, E., Kitano, H. (eds) RoboCup-99: Robot Soccer World Cup III. RoboCup 1999. Lecture Notes in Computer Science(), vol 1856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45327-X_30
Download citation
DOI: https://doi.org/10.1007/3-540-45327-X_30
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-41043-0
Online ISBN: 978-3-540-45327-7
eBook Packages: Springer Book Archive