A Generic Coordination and Strategy Model for Multi-Agent Systems

Abstract

Managing a team of heterogeneous robots performing a cooperative task in a dynamic environment poses a challenging job. In this thesis 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, middle-size and legged leagues, a generic coordination model was built. Communication was an important factor to consider only introducing a minor communication overhead as both centralized and distributed architectures are handled by the layer. A multi-level hierarchical approach is proposed with hybrid methods used to switch between concepts.

Strategies may be designed with the help of a developed graphical tool. The tool facilitates the strategy design by allowing a graphical interconnection between strategical concepts and the quick reuse of parts of previously designed strategies.

The strategical coordination model was instantiated in the RoboCup Soccer and RoboCup Rescue Simulation domains. For the RoboCup Soccer a graphical debugging tool was also developed in order to better understand the layer effects on the domain.

For the RoboCup Rescue domain, a collection of domain related strategical objects was created as a basis for strategy design. In this domain a full model compliant strategy, based on the previous behaviour of FC Portugal’s team was tested. The former strategy was compared to a new search and rescue designed strategy showing the usefulness of the approach.

MIEEC

João Certo                      joao [dot] certo [at] fe [dot] up [dot] pt

Contact: