Multiagent System of Mobile Robots for Robotic Football

摘要

The results of the development of a cross-platform software (framework), designed to create and test multi-agent control and navigation algorithms in a highly dynamic environment with a centralized control system based on the Robocup SSL competition, are presented. The framework supports the programming of control signal calculation algorithms using MATLAB [1] and system of technical vision which is called “SSL Vision” [2]. To support various models and types of robots, an universal network interface has been implemented. The paper provides an overview of existing solutions, describes the architecture and implementation features of the proposed framework, and gives practical examples of the system's work with multi-agent navigation and control.