Development of a multi-agent system for robot soccer game

摘要

A soccer robot system has many characteristic factors of a multi-agent system. We have built a soccer robot system to participate in MIROSOT96. In this paper, we present some factors to be considered in building the system. Since how to constitute the system is very important, we have surveyed architectures of multi-agent systems. Considering the nature of the soccer robot game, we select a centralized online system for the soccer robot system. We give the reasons of selection. Our system is composed of several parts-a robot, a supervisor, vision system, communication devices. In this paper, the detailed descriptions of each component of our system are provided for later development. Our system is intended to play a soccer game, but, it can be used in other area such as solving the optimization problem of the path planning of multiple mobile robots with distributed obstacles and acquiring purposive behaviors of robots by vision-based learning.