Fuzzy Logic for Behaviour Co-ordination and Multi-Agent Formation in RoboCup

Abstract

Robots participating in a soccer game need to determine the position of the ball, other robots, and the goal positions using real time visual tracking, along with being able to navigate safely, move the ball towards the opponents goal, and co-operate with teammates. Each soccer robot is equipped with basic behaviours such as chasing the ball and shoots it at the goal. Although the single-agent behaviours are very important, the issue of co-operation, or formation, among multiple agents in such a domain is essential. In this paper, we discuss the importance of robot formation in RoboCup and introduce new reactive behaviours and their co-ordination, based on Fuzzy Logic Control, to achieve cooperation among the soccer playing robots.