Constraint nets: a semantic model for hybrid dynamic systems
Theoretical Computer Science - Special issue on hybrid systems
RoboCup-97: Robot Soccer World Cup I
RoboCup-97: Robot Soccer World Cup I
RoboCup-98: Robot Soccer World Cup II
RoboCup-98: Robot Soccer World Cup II
The RoboCup Synthetic Agent Challenge 97
RoboCup-97: Robot Soccer World Cup I
Co-evolving Soccer Softbot Team Coordination with Genetic Programming
RoboCup-97: Robot Soccer World Cup I
Synthesis of Hybrid Constraint-Based Controllers
Hybrid Systems II
Using Decision Tree Confidence Factors for Multiagent Control
RoboCup-97: Robot Soccer World Cup I
A foundation for the design and analysis of robotic systems and behaviors
A foundation for the design and analysis of robotic systems and behaviors
A robot decision making framework using constraint programming
Artificial Intelligence Review
Hi-index | 0.00 |
It is a challenging task for a team of multiple fast-moving robots to cooperate with each other and to compete with another team in a dynamic, real-time environment. For a robot team to play soccer successfully, various technologies have to be incorporated including robotic architecture, multi-agent collaboration and real-time reasoning. A robot is an integrated system, with a controller embedded in its plant. A robotic system is the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. Constraint Nets (CN) provide a semantic model for modeling hybrid dynamic systems. Controllers are embedded constraint solvers that solve constraints in real-time. A controller for our robot soccer team, UBC Dynamo98, has been modeled in CN, and implemented in Java, using the Java Beans architecture. A coach program using an evolutionary algorithm has also been designed and implemented to adjust the weights of the constraints and other parameters in the controller. The results demonstrate that the formal CN approach is a practical tool for designing and implementing controllers for robots in multi-agent real-time environments. They also demonstrate the effectiveness of applying the evolutionary algorithm to the CN-modeled controllers.