Coordination and Learning in a Team of Mobile Robots

摘要

Research on the cooperation of multiple mobile robots has to address three main problems: (i) how to appropriately divide the functionality of the system into multiple robots, (ii) how to manage the dynamic configuration of the system in order to realise co-operative behaviours, and (iii) how to achieve coordination and learning for a team of mobile robots. This paper addresses these issues using a behaviour-based approach. More specifically, the aim of this research is to develop a team of mobile robots with coordination and learning capabilities for the robot soccer competition. The methodology to implement co-operative behaviours and the learning strategy is presented. The construction of Essex Wizards soccer robots and initial simulation results are introduced to demonstrate the feasibility. Keywords: Mobile Robots, Multirobot Systems, Cooperative Behaviours, Learning, Soccer Robots. 1. INTRODUCTION During the last few decades, major research efforts were focused on improv...