Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team
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چکیده
This paper presents the team coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup middle-size league (MSL). The coordination model extends and adapts previous work in the Soccer Simulation League to the MSL environment. The approach is based on flexible positionings and priority-based dynamic role/positioning assignment. In addition, coordinated procedures for passing and setplays have been implemented. With the described design, CAMBADA reached the 1st place in the RoboCup’2008 world championship, becoming the first Portuguese real robot team to win in RoboCup. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed.
منابع مشابه
Robot team coordination using dynamic role and positioning assignment and role based setplays
The coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup Middle-Size League (MSL), are presented in this paper. The approach, which relies on information sharing and integration within the team, is based on formations, flexible positionings and dynamic role and positioning assignment. Role assignment is carried out locally on each robot to increase...
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تاریخ انتشار 2009