Skip to main content
SpringerLink
Log in

Coordination in Multi-robot Systems: Applications in Robotic Soccer

  • Conference paper
Agents and Artificial Intelligence (ICAART 2012)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 358))

Included in the following conference series:

Abstract

This paper briefly presents the research performed in the context of FC Portugal project concerning coordination methodologies applied to robotic soccer. FC Portugal’s research has been integrated in several teams that have participated with considerable success in distinct RoboCup leagues and competitions. The paper includes a brief description of the main RoboCup competitions in which FC Portugal (and associated teams) has participated with focus in the simulation leagues and related challenges. It also presents a complete state of the art concerning coordination methodologies applied to robotic soccer followed by FC Portugal main contributions on this area. The team contributions include methodologies for strategic reasoning, coaching, strategic positioning, dynamic role exchange and flexible setplay definition and execution. These methodologies compose a complete coordination framework that enable a robotic team to play soccer or execute similar tasks.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Reis, L.P., Lau, N.: FC Portugal Team Description: RoboCup 2000 Simulation League Champion. In: Stone, P., Balch, T., Kraetzschmar, G.K. (eds.) RoboCup 2000. LNCS (LNAI), vol. 2019, pp. 29–40. Springer, Heidelberg (2001)

    Chapter  Google Scholar 

  2. Reis, L.P., Lau, N., Oliveira, E.: Situation Based Strategic Positioning for Coordinating a Team of Homogeneous Agents. In: Hannebauer, M., Wendler, J., Pagello, E. (eds.) ECAI-WS 2000. LNCS (LNAI), vol. 2103, pp. 175–197. Springer, Heidelberg (2001)

    Chapter  Google Scholar 

  3. Lau, N., Reis, L.P.: FC Portugal 2001 Team Description: Flexible Teamwork and Configurable Strategy. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 515–518. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  4. Lau, N., Reis, L.P.: FC Portugal - High-level Coordination Methodologies in Soccer Robotics. In: Lima, P. (ed.) Robotic Soccer, pp. 167–192. Itech Education and Publishing, Vienna (2007) ISBN 978-3-902613-21-9

    Google Scholar 

  5. Scolari Conceição, A., Moreira, A., Reis, L.P., Costa, P.J.: Architecture of Cooperation for Multi-Robot Systems. In: 1st IFAC/MVS 2006, Salvador, Brazil, October 2-3 (2006)

    Google Scholar 

  6. Lau, N., Lopes, L.S., Filipe, N., Corrente, G.: Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team. In: Lopes, L.S., Lau, N., Mariano, P., Rocha, L.M. (eds.) EPIA 2009. LNCS (LNAI), vol. 5816, pp. 323–337. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  7. Lau, N., Lopes, L.S., Corrente, G., Filipe, N.: Multi-Robot Team Coordination Through Roles, Positioning and Coordinated Procedures. In: IROS 2009, St. Louis, USA (2009)

    Google Scholar 

  8. Shafii, N., Reis, L.P., Lau, N.: Biped Walking Using Coronal and Sagittal Movements Based on Truncated Fourier Series. In: Ruiz-del-Solar, J. (ed.) RoboCup 2010. LNCS, vol. 6556, pp. 324–335. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  9. Picado, H., Gestal, M., Lau, N., Reis, L.P., Tomé, A.M.: Automatic Generation of Biped Walk Behavior Using Genetic Algorithms. In: Cabestany, J., Sandoval, F., Prieto, A., Corchado, J.M. (eds.) IWANN 2009, Part I. LNCS, vol. 5517, pp. 805–812. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  10. Rei, L., Reis, L.P., Lau, N.: Optimizing a Humanoid Robot Skill. In: Lima, P., Cardeira, C. (eds.) Int. Conf. Mobile Robots and Competitions, Lisbon, Portugal, pp. 79–83 (2011)

    Google Scholar 

  11. Reis, L.P., Lau, N.: COACH UNILANG - A Standard Language for Coaching a (Robo)Soccer Team. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 183–192. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  12. Abreu, P.H., Moura, J., Silva, D.C., Reis, L.P., Garganta, J.: Performance Analysis in Soccer: a Cartesian Coordinates based Approach using RoboCup Data. Soft Computing 16, 47–61 (2012)

    Article  Google Scholar 

  13. Faria, B.M., Reis, L.P., Lau, N., Castillo, G.: Machine Learning Algorithms applied to the Classification of Robotic Soccer Formations and Opponent Teams. In: IEEE CIS 2010, Singapore, pp. 344–349 (2010)

    Google Scholar 

  14. Almeida, R., Reis, L.P., Jorge, A.M.: Analysis and Forecast of Team Formation in the Simulated Robotic Soccer Domain. In: Lopes, L.S., Lau, N., Mariano, P., Rocha, L.M. (eds.) EPIA 2009. LNCS (LNAI), vol. 5816, pp. 239–250. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  15. Lau, N., Reis, L.P., Certo, J.: Understanding Dynamic Agent’s Reasoning. In: Neves, J., Santos, M.F., Machado, J.M. (eds.) EPIA 2007. LNCS (LNAI), vol. 4874, pp. 542–551. Springer, Heidelberg (2007)

    Chapter  Google Scholar 

  16. Mota, L., Reis, L.P., Lau, N.: Multi-Robot Coordination using Setplays in the Middle-size and Simulation Leagues. Mechatronics 21(2), 434–444 (2011)

    Article  Google Scholar 

  17. Mota, L., Reis, L.P., Lau, N.: Co-ordination in RoboCup’s 2D Simulation League: Setplays as flexible, multi-robot plans. In: IEEE International Conference on Robotics, Automation and Mechatronics (RAM 2010), Singapore (2010)

    Google Scholar 

  18. Mota, L.: Multi-robot Coordination using Flexible Setplays: Applications in RoboCup’s Simulation and Middle-Size Leagues. PhD thesis, Faculdade Eng. Univ. Porto (2012)

    Google Scholar 

  19. Reis, L.P., Lau, N.: FCPortugal Homepage, http://www.ieeta.pt/robocup

  20. Reis, L.P.: Coordenação de Sistemas Multi-Agente: Aplicações na Gestão Universitária e no Futebol Robótico, PhD thesis, Faculdade de Engenharia da Univ. do Porto (2003)

    Google Scholar 

  21. Ferreira, R.A., Reis, L.P., Lau, N.: Situation Based Communication for Coordination of Agents. In: Reis, L.P., Moreira, A.P., Costa, E.S.P., Almeida, J.M. (eds.) Proc. Scientific Meeting of the Portuguese Robotics Open, Porto, FEUP Edições, pp. 39–44 (2004)

    Google Scholar 

  22. Mota, L., Reis, L.P.: Setplays: Achieving coordination by the appropriate use of arbitrary pre-defined flexible plans and inter-robot communication. In: Winfield, A.F.T., Redi, J. (eds.) ROBOCOMM 2007, vol. 318. ACM (2007)

    Google Scholar 

  23. Certo, J., Lau, N., Reis, L.P.: A Generic Strategic Layer for Collaborative Networks. In: Establ. Found. for Collaborative Networks. IFIP, vol. 243, pp. 273–282. Springer (2007)

    Google Scholar 

  24. Abdolmaleki, A., Movahedi, M., Salehi, S., Lau, N., Reis, L.P.: A Reinforcement Learning Based Method for Optimizing the Process of Decision Making in Fire Brigade Agents. In: Antunes, L., Pinto, H.S. (eds.) EPIA 2011. LNCS (LNAI), vol. 7026, pp. 340–351. Springer, Heidelberg (2011)

    Chapter  Google Scholar 

  25. Almeida, F., Lau, N., Reis, L.P.: A Survey on Coordination Techniques for Simulated Robotic Soccer Teams. In: MAS&S@MALLOW 2010, Lyon, France (2010)

    Google Scholar 

  26. Portela, J., Abreu, P., Reis, L.P., Oliveira, E., Garganta, J.: An Intelligent Framework for Automatic Event Detection in Robotic Soccer Games: An Auxiliar Tool to Help Coaches Improving their Teams Performance. In: ICEIS 2010, pp. 244–249. INSTICC Press (2010)

    Google Scholar 

  27. Faria, B.M., Santos, B.S., Lau, N., Reis, L.P.: Data Visualization for Analyzing Simulated Robotic Soccer Games. In: IMAGAPP/IVAPP 2010, Angers, France, May 17-21, pp. 161–168. INSTICC Press (2010)

    Google Scholar 

  28. Faria, B.M., Castillo, G., Lau, N., Reis, L.P.: Classification of FC Portugal Robotic Soccer Formations: A Comparative Study of Machine Learning Algorithms Robotica Magazine. 1st Trimester, vol. 82, pp. 4–9 (2011) ISSN: 0874-9019

    Google Scholar 

  29. Almeida, P., Abreu, P.H., Lau, N., Reis, L.P.: Automatic Extraction of Goal-Scoring Behaviors from Soccer Matches. In: IROS 2012, Vilamoura, Portugal, pp. 849–856 (2012)

    Google Scholar 

  30. Abreu, P., Moreira, J., Costa, I., Castelão, D., Moreira, J., Reis, L.P., Garganta, J.: Human vs. Virtual Robotic Soccer: A Technical Analysis about Two Realities. European Journal of Sport Science 12(1), 26–35 (2012) ISSN: 1746-1391

    Article  Google Scholar 

  31. Santiago, C., Sousa, A., Estriga, M.L., Reis, L.P., Lames, M.: Survey on Team Tracking Techniques applied to Sports. In: AIS 2010 (2010)

    Google Scholar 

  32. Abreu, P., Faria, M., Reis, L.P., Garganta, J.: Knowledge Representation in Soccer Domain: An Ontology Development. In: Rocha, A., Sexto, C.F., Reis, L.P., Cota, M.P. (eds.) CISTI 2010, Santiago de Compostela, Spain, June 16–19, pp. 414–419 (2010)

    Google Scholar 

  33. Santiago, C., Sousa, A., Reis, L.P., Estriga, M.L.: Real Time Colour Based Player Tracking in Indoor Sports. Computational Vision and Medical Image Processing. Computational Methods in Applied Sciences 19, 17–35 (2011)

    Article  Google Scholar 

  34. Abreu, P., Costa, I., Castelão, D., Reis, L.P., Garganta, J.: Human vs. Robotic Soccer: How Far are They? A Statistical Comparison. In: Ruiz-del-Solar, J. (ed.) RoboCup 2010. LNCS (LNAI), vol. 6556, pp. 242–253. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  35. Santiago, C., Sousa, A., Reis, L.P., Estriga, M.L.: Automatic Detection and Tracking of Handball Players. In: Tavares, J., Jorge, R.N. (eds.) VipImage 2009, October 14-16, pp. 213–219. Taylor & Francis Group, Porto (2009)

    Google Scholar 

  36. Domingues, E., Lau, N., Pimentel, B., Shafii, N., Reis, L.P., Neves, A.J.R.: Humanoid Behaviors: From Simulation to a Real Robot. In: Antunes, L., Pinto, H.S. (eds.) EPIA 2011. LNCS (LNAI), vol. 7026, pp. 352–364. Springer, Heidelberg (2011)

    Chapter  Google Scholar 

  37. Mota, L., Reis, L.P.: A Common Framework for Co-operative Robotics: An Open, Fault Tolerant Architecture for Multi-league RoboCup Teams. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. 5325, pp. 171–182. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  38. Mota, L., Lau, N., Reis, L.P.: Co-ordination in RoboCup’s 2D Simulation League: Setplays as flexible, Multi-Robot plans. In: IEEE RAM 2010, Singapore, pp. 362–367 (2010)

    Google Scholar 

  39. Reis, L.P., Lopes, R., Mota, L., Lau, N.: Playmaker: Graphical Definition of Formations and Setplays. In: Rocha, A., Sexto, C.F., Reis, L.P., Cota, M.P. (eds.) CISTI 2010, Santiago de Compostela, Spain, June 16–19, pp. 582–587 (2010)

    Google Scholar 

  40. Mota, L., Reis, L.P.: An Elementary Communication Framework for Open Co-operative RoboCup Soccer Teams. In: Sapaty, P., Filipe, J. (eds.) ICINCO 2007/MARS 2007, Angers, France, May 9-12, pp. 97–101 (2007)

    Google Scholar 

  41. Kitano, H., Asada, M., Kuniyoshi, Y., Noda, I., Osawa, E., Matsubara, H.: RoboCup: A Challenge Problem for AI and Robotics. In: Kitano, H. (ed.) RoboCup 1997. LNCS, vol. 1395, pp. 1–19. Springer, Heidelberg (1998)

    Chapter  Google Scholar 

  42. Chen, M., Foroughi, E., Heintz, F., Huang, Z., Kapetanakis, S., Kostiadis, K., Kummeneje, J., Noda, I., Obst, O., Riley, P., Steffens, T., Wang, Y., Yin, X.: RoboCup Soccer Server Manual (2007), http://downloads.sourceforge.net/sserver/manual.pdf

  43. Sedaghat, M., et al.: Caspian 2003 Presentation Description. In: RoboCup 2003 (2003) (CD Proceedings)

    Google Scholar 

  44. Obst, O., Rollmann, M.: Spark – A Generic Simulator for Physical Multi-agent Simulations. In: Lindemann, G., Denzinger, J., Timm, I.J., Unland, R. (eds.) MATES 2004. LNCS (LNAI), vol. 3187, pp. 243–257. Springer, Heidelberg (2004)

    Chapter  Google Scholar 

  45. Riley, P.: SPADES: System for Parallel Agent Discrete Event Simulation. AI Magazine 24(2), 41–42 (2003)

    MathSciNet  Google Scholar 

  46. Smith, R.: Open Dynamics Engine v0.5 User Guide (2006), http://opende.sourceforge.net/

  47. Obst, O., Rollmann, M.: Spark - A generic simulator for physical multi-agent simulations. Computer Systems: Science & Engineering 20(5) (2005)

    Google Scholar 

  48. McMillen, C., Veloso, M.: Distributed, Play-Based Coordination for Robot Teams in Dynamic Environments. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 483–490. Springer, Heidelberg (2007)

    Chapter  Google Scholar 

  49. Stone, P.: Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer. MIT Press (2000) ISBN: 0262194384

    Google Scholar 

  50. Stone, P., Veloso, M.: Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork. Artificial Intelligence 110(2), 241–273 (1999)

    Article  MATH  Google Scholar 

  51. Kok, J.R., Spaan, M.T.J., Vlassis, N.: An approach to noncommunicative multiagent coordination in continuous domains. In: Wiering, M. (ed.) Proc. of the 12th Belgian-Dutch Conference on Machine Learning, Utrecht, The Netherlands, December 2002, pp. 46–52 (2002)

    Google Scholar 

  52. Kok, J.R., Spaan, M.T.J., Vlassis, N.: Multi-Robot Decision Making using Coordination Graphs. In: Almeida, A.T., Nunes, U. (eds.) Proc. of the 11th International Conference on Advanced Robotics, Coimbra, Portugal, pp. 1124–1129 (2003)

    Google Scholar 

  53. Kok, J.R., Spaan, M.T.J., Vlassis, N.: Non-Communicative Multi-Robot Coordination in Dynamic Environments. Robotics and Autonomous Systems 50(2-3), 99–114 (2005)

    Article  Google Scholar 

  54. Vail, D., Veloso, M.: Multi-Robot Dynamic Role Assignment and Coordination Through Shared Potential Fields. In: Schultz, A., et al. (eds.) Multi-Robot Systems. Kluwer (2003)

    Google Scholar 

  55. Isik, M., Stulp, F., Mayer, G., Utz, H.: Coordination Without Negotiation in Teams of Heterogeneous Robots. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 355–362. Springer, Heidelberg (2007)

    Chapter  Google Scholar 

  56. Stulp, F., Isik, M., Beetz, M.: Implicit Coordination in Robotic Teams using Learned Prediction Models. In: ICRA 2006, pp. 1330–1335. IEEE, Orlando (2006)

    Google Scholar 

  57. Stulp, F., Utz, H., Isik, M., Mayer, G.: Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. Advanced Robotics 24(7), 1017–1036 (2010)

    Article  Google Scholar 

  58. Desheng, X., Kejian, X.: Role Assignment, Non-Communicative Multi-agent Coordination in Dynamic Environments Based on the Situation Calculus. In: Proc. of the WRI Global Congress on Intelligent Systems, vol. 1, pp. 89–93 (2009)

    Google Scholar 

  59. Cheny, M., Dorer, K., Foroughi, E., Heintz, F., Huangy, Z., Spiros, S., Kostiadis, K., Kummeneje, J., Murray, J., Noda, I., Obst, O., Riley, P., Stevens, T., Wangy, Y., Yiny, X.: RoboCup Soccer Server Users Manual. Version 7.07 and later. RoboCup Federation (2003)

    Google Scholar 

  60. Buttinger, S., Diedrich, M., Hennig, L., Hoenemann, A., Huegelmeyer, P., Nie, A., Pegam, A., Rogowski, C., Rollinger, C., Steffens, T., Teiken, W.: The Dirty Dozen Team and Coach Description. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 543–546. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  61. Davin, J., Riley, P., Veloso, M.: CommLang: Communication for Coachable Agents. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 46–59. Springer, Heidelberg (2005)

    Chapter  Google Scholar 

  62. Scerri, P., Pynadath, D.: Tambe. M.: Adjustable autonomy in real-world multi-agent environments. In: Proc of the 5th International Conference on Autonomous Agents, AGENTS 2001, pp. 300–307. ACM, New York (2005) ISBN 1-58113-326-X

    Google Scholar 

  63. Riley, P., Veloso, M., Kaminka. G.: An Empirical Study of Coaching. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds.) Distributed Autonomous Robotic Systems 5, pp. 215–224. Springer (2002)

    Google Scholar 

  64. Takahashi, T.: Kasugabito III. In: Veloso, M.M., Pagello, E., Kitano, H. (eds.) RoboCup 1999. LNCS (LNAI), vol. 1856, pp. 592–595. Springer, Heidelberg (2000)

    Chapter  Google Scholar 

  65. Riley, P.: Veloso. M.: On Behavior Classification in Adversarial Environments. In: Procs. of the 5th International Symposium on Distributed Autonomous Robotic Systems (2000)

    Google Scholar 

  66. Visser, U., Drücker, C., Hübner, S., Schmidt, E., Weland, H.-G.: Recognizing Formations in Opponent Teams. In: Stone, P., Balch, T., Kraetzschmar, G.K. (eds.) RoboCup 2000. LNCS (LNAI), vol. 2019, pp. 391–396. Springer, Heidelberg (2001)

    Chapter  Google Scholar 

  67. Riley, P., Veloso, M.: Recognizing Probabilistic Opponent Movement Models. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 453–540. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  68. Riley, P., Veloso, M., Kaminka, G.: An Empirical Study of Coaching. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds.) Distributed Autonomous Robotic Systems 5, pp. 215–224. Springer (2002)

    Google Scholar 

  69. Ahmadi, M., Lamjiri, A., Nevisi, M., Habibi, J., Badie, K.: Using a two-layered case-based reasoning for prediction in soccer coach. In: Arabnia, H., Kozerenko, E. (eds.) ICML: Models, Techn. and Applications, pp. 181–185. CSREA Press, Las Vegas (2003)

    Google Scholar 

  70. Kuhlmann, G., Stone, P., Lallinger, J.: The UT Austin Villa 2003 Champion Simulator Coach: A Machine Learning Approach. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 636–644. Springer, Heidelberg (2005)

    Chapter  Google Scholar 

  71. Stolzenburg, F., Murray, J., Sturm, K.: Multiagent Matching Algorithms With and Without Coach. Decision Systems 15(2-3), 215–240 (2006)

    Article  Google Scholar 

  72. Castelpietra, C., Guidotti, A., Iocchi, L., Nardi, D., Rosati, R.: Design and Implementation of Cognitive Soccer Robots. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 312–318. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  73. Iocchi, L., Marchetti, L., Nardi, D., Lima, P., Barbosa, M., Pereira, H., Lopes, N.: SPQR + ISocRob RoboCup 2007 qualification report. Technical report, Sapienza Universitá di Roma, Italy; Instituto Superior Técnico (2007)

    Google Scholar 

  74. Kok, J., Vlassis, N.: Collaborative Multiagent Reinforcement Learning by Payoff Propagation. Journal of Machine Learning Research (JMLR) 7, 1789–1828 (2006)

    MathSciNet  MATH  Google Scholar 

  75. Ruiz, M., Uresti, J.: Team Agent Behavior Architecture in Robot Soccer. In: Procs of the Latin American Robotic Symposium, pp. 20–25 (2008)

    Google Scholar 

  76. Vega, J.L., Junco, M.A., Ramírez, J.: Major behavior definition of football agents through XML. In: Arai, T., Pfeifer, R., Balch, T., Yokoi, H. (eds.) Procs. of the 9th International Conference on Intelligent Autonomous Systems, University of Tokyo, Tokyo, Japan, pp. 668–675. IOS Press (2006)

    Google Scholar 

  77. Dashti, H.T., Aghaeepour, N., Asadi, S., Bastani, M., Delafkar, Z., Disfani, F.M., Ghaderi, S.M., Kamali, S., Pashami, S., Siahpirani, A.F.: Dynamic Positioning Based on Voronoi Cells (DPVC). In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 219–229. Springer, Heidelberg (2006)

    Chapter  Google Scholar 

  78. Akiyama, H., Noda, I.: Multi-agent Positioning Mechanism in the Dynamic Environment. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 377–384. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  79. Stone, P., Veloso, M., Riley, P.: The CMUnited-98 Champion Simulator Team. In: Asada, M., Kitano, H. (eds.) RoboCup 1998. LNCS (LNAI), vol. 1604, pp. 61–76. Springer, Heidelberg (1999)

    Chapter  Google Scholar 

  80. Kyrylov, V., Hou, E.: While the Ball in the Digital Soccer is Rolling, Where the Non-Player Characters Should go in a Defensive Situation? In: Kapralos, B., Katchabaw, M., Rajnovich, J. (eds.) ACM Proc. Conf. on Future Play, Toronto, Canada, pp. 90–96 (2007)

    Google Scholar 

  81. Kyrylov, V., Catalina, M., Ng, H.: Rollover as a Gait in Legged Autonomous Robots: A Systems Analysis. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS (LNAI), vol. 5949, pp. 166–178. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  82. Gabel, T., Riedmiller, M., Trost, F.: A Case Study on Improving Defense Behavior in Soccer Simulation 2D: The NeuroHassle Approach. In: Iocchi, L., Matsubara, H., Weitzenfeld, A., Zhou, C. (eds.) RoboCup 2008. LNCS (LNAI), vol. 5399, pp. 61–72. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  83. Kyrylov, V., Razykov, S.: Pareto-Optimal Offensive Player Positioning in Simulated Soccer. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 228–237. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  84. Razykov, S., Kyrylov, V.: While the Ball in the Digital Soccer Is Rolling, Where the Non-Player Characters Should Go If the Team is Attacking? In: Proc. ACM Conference on Future Play, London, Ontario, Canada (2006)

    Google Scholar 

  85. Nakanishi, R., Murakami, K., Naruse, T.: Dynamic Positioning Method Based on Dominant Region Diagram to Realize Successful Cooperative Play. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 488–495. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  86. Gabel, T., Riedmiller, M.: Brainstormers 2D - Team Description (2009)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. EEUM/DSI - Escola de Engenharia da Universidade do Minho, Departamento de Sistemas de Informação, Universidade do Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. LIACC - Lab. Inteligência Artificial e Ciência de Computadores, Univ. Porto, Porto, Portugal

    Luís Paulo Reis, Fernando Almeida & Luís Mota

  3. IEETA - Instituto de Engenharia Eletrónica e Telemática de Aveiro, Aveiro, Portugal

    Fernando Almeida & Nuno Lau

  4. ESTV/IPV - Escola Superior de Tecnologia de Viseu, Inst. Pol. Viseu, Viseu, Portugal

    Fernando Almeida

  5. ISCTE-IUL - Instituto Universitário de Lisboa, Lisboa, Portugal

    Luís Mota

  6. DETI/UA - Dep. Eletrónica, Telecomunicações e Informática, Univ. Aveiro, Aveiro, Portugal

    Nuno Lau

Authors
  1. Luís Paulo Reis
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fernando Almeida
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Luís Mota
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Nuno Lau
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. INSTICC and IPS, Estefanilha, Setúbal, Portugal

    Joaquim Filipe

  2. IST - Technical University of Lisbon, Av.Rovisco Pais, 1, 1049-001, Lisbon, Portugal

    Ana Fred

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Reis, L.P., Almeida, F., Mota, L., Lau, N. (2013). Coordination in Multi-robot Systems: Applications in Robotic Soccer. In: Filipe, J., Fred, A. (eds) Agents and Artificial Intelligence. ICAART 2012. Communications in Computer and Information Science, vol 358. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36907-0_1

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-36907-0_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36906-3

  • Online ISBN: 978-3-642-36907-0

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation