A generic multi-robot coordination strategic layer

Authors:
João Certo;Nuno Lau;Luis P. Reis
Affiliations:
Institute of Electronics and Telematics Engineering of Aveiro, Portugal and University of Porto, Portugal;Institute of Electronics and Telematics Engineering of Aveiro, Portugal and University of Aveiro, Portugal;University of Porto, Portugal and Univ. Porto, Portugal
Venue:
Proceedings of the 1st international conference on Robot communication and coordination
Year:
2007

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Abstract

Managing a team of heterogeneous robots in a dynamic environment poses a challenging job. In this paper a model for a multi-purpose, real-time, adaptable, strategical coordination layer is presented. Based on previous work developed for the RoboCup Soccer simulation, small-size, middle-size and legged leagues, a generic coordination model was built. As both centralized and distributed environment are handled by the layer, communication was an important factor to consider only introducing a minor overhead. A multi-level hierarchical approach was followed with hybrid methods used to switch between concepts. The model was tested with two strategy instances, RoboCup Rescue Simulation and RoboCup Soccer. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of this approach.