A Cooperative CiberMouse@RTSS08 Team

  • Authors:

  • João Azevedo;Miguel Oliveira;Pedro Pacheco;Luís Paulo Reis

  • Affiliations:

  • DEI/FEUP - Departamento de Eng. Informática, Faculdade de Engenharia da Universidade do Porto,;DEI/FEUP - Departamento de Eng. Informática, Faculdade de Engenharia da Universidade do Porto,;DEI/FEUP - Departamento de Eng. Informática, Faculdade de Engenharia da Universidade do Porto,;DEI/FEUP - Departamento de Eng. Informática, Faculdade de Engenharia da Universidade do Porto, and LIACC - Laboratório de Inteligência Artificial e Ciência de Computadores da U ...

  • Venue:
  • EPIA '09 Proceedings of the 14th Portuguese Conference on Artificial Intelligence: Progress in Artificial Intelligence
  • Year:
  • 2009

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Abstract

This paper describes the strategy and implementation details of a cooperative agent team for the CiberMouse@RTSS08, a robotics simulation competition. The paper introduces several concepts concerning cooperative robotics, giving an overview of its applications and challenges. It also presents the CiberMouse@RTSS08 competition rules and the associated simulation system. The proposed approach is based on a deliberative architecture, thus providing an autonomous intelligent behaviour. A probabilistic mapping procedure, based on the Bayes' theorem, is used to maintain an internal world state. Quadtrees and A* are used for path planning and plan execution. A specific methodology was developed for beacon finding. The agents cooperate on exchanging world and beacon information. In order to overcome the simulator's broadcasting distance limitation, a communication network between the agents was created. The paper analyses the impact of cooperation on this particular problem, by comparing the team's performance in four different situations: communication with network and beacon exchanging, communication without network, communication without beacon exchanging and no communication at all.