A distributed world model for robot soccer that supports the development of team skills

Abstract

In this paper a distributed dynamic world model is presented together with the team skills for the Dutch robot soccer team. It uses a shared world model which is locally maintained in each robot. Odometry and landmarks are used to calculate the robot's own position together with the time-stamped position of the moving objects present. Taking into account the uncertainty present, the time-stamped measurements of the whole team are fused in each robot and the position and velocity of moving objects are calculated. The main benet of a distributed dynamic world model is that team coordination is greatly simplied. Sharing the same world model enables the team to reason not only about their own actions but they can also predict the next action a team member will take. 1