Abstract
Robot soccer is played in a dynamic environment. All robots in a team should select their task dynamically and adaptively in a cooperative manner. This paper proposes a framework for task and role selection strategy for distributed multi-robot coordination and its application to robot soccer. To deal with such a dynamic environment, context-based cooperation method is provided. The robot team has a task strategy and a task strategy ratio that can change the weight of the tasks, based on environmental changes. Using information on task strategy ratio and environmental changes, each robot in a team can effectively select its task and role. Computer simulations are carried out to demonstrate the effectiveness of the proposed framework for task and role selection for multi-robot cooperation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Parker, L.E.: ALLIANCE: An architecture for fault-tolerant multirobot cooperation. IEEE Trans. on Robotics and Automation 14, 220–240 (1998)
Werger, B., Mataric, M.J.: Broadcast of Local Eligibility for Multi-Target Observation. In: Proceedings, 5th International Symposium on Distributed Autonomous Robotic Systems, pp. 347–356 (2000)
Fang, T., Parker, L.E.: ASyMTRe: Automated Synthesis of Multi-Robot Task Solutions through Software Reconfiguration. In: Proceedings, The 2005 IEEE International Conference on Robotics and Automation, pp. 1513–1520 (2005)
Parker, L.E., Schneider, F.E., Schultz, A.C.: Enabling Autonomous Sensor-Sharing for Tightly-Coupled Cooperative Tasks. In: Proceedings, The 2005 International Workshop on Multi-Robot Systems, pp. 119–130 (2005)
Gerkey, B.P., Mataric, M.J.: Mataric: Sold!: Auction Methods for Multirobot Coordination. IEEE Trans. on Robotics and Automation 18, 758–768 (2002)
Dias, M.B.: Traderbots: A new paradigm for robust and efficient multirobot coordination in dynamic environments. Ph.D. dissertation. Robotics Institute, Carnegie Mellon University, Pittsburgh (2004)
Zlot, R.: An Auction-Based Approach to Complex Task Allocation for Multirobot Teams. Ph.D. dissertation, Robotics Institute, Carnegie Mellon University, Pittsburgh (2006)
Lee, D.-H., Kim, J.-H.: Motivation and Context-Based Multi-Robot Architecture for Dynamic Task, Role and Behavior Selections. In: Proceeding, FIRA RoboWorld Congress, pp. 161–170 (2009)
Kim, J.-H., Kim, D.-H., Kim, Y.-J., Seow, K.-T.: Soccer Robotics (Springer Tracts in Advanced Robotics), vol. 326. Springer, Heidelberg (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lee, DH., Na, KI., Kim, JH. (2010). Task and Role Selection Strategy for Multi-robot Cooperation in Robot Soccer. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-15810-0_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15809-4
Online ISBN: 978-3-642-15810-0
eBook Packages: Computer ScienceComputer Science (R0)