A Generic Multi-Robot Coordination Strateg Layer

João Certo; Nuno Lau; Luis P. Reis

1st International ICST Conference on Robot Communication and Coordination

Research Article

A Generic Multi-Robot Coordination Strateg Layer

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2207,
    author={Jo\"{a}o Certo and Nuno Lau and Luis P. Reis},
    title={A Generic Multi-Robot Coordination Strateg Layer},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={Distributed coordination of mobile robots.},
    doi={10.4108/ICST.ROBOCOMM2007.2207}
}

João Certo
Nuno Lau
Luis P. Reis
Year: 2010
A Generic Multi-Robot Coordination Strateg Layer
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2207

João Certo^1,2^,*, Nuno Lau^1,3^,*, Luis P. Reis^2,4^,*

1: IEETA – Institute of Electronics and Telematics Engineering of Aveiro, Portugal
2: FEUP – Faculty of Engineering of the University of Porto, Portugal
3: DETI –Informatics, Electronics and Telecommunications Dep., University of Aveiro, Portugal
4: LIACC – Artificial Intelligence and Computer Science Lab., Univ. Porto, Portugal

*Contact email: joao.certo@fe.up.pt, lau@det.ua.pt, lpreis@fe.up.pt

Abstract

Managing a team of heterogeneous robots in a dynamic environment poses a challenging job. In this paper a model for a multi-purpose, real-time, adaptable, strategical coordination layer is presented. Based on previous work developed for the RoboCup Soccer simulation, small-size, middlesize and legged leagues, a generic coordination model was built. As both centralized and distributed environment are handled by the layer, communication was an important factor to consider only introducing a minor overhead. A multi-level hierarchical approach was followed with hybrid methods used to switch between concepts. The model was tested with two strategy instances, RoboCup Rescue Simulation and RoboCup Soccer. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of this approach.

Keywords: Distributed coordination of mobile robots.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2207