Task and Role Selection Strategy for Multi-robot Cooperation in Robot Soccer

Robot soccer is played in a dynamic environment. All robots in a team should select their task dynamically and adaptively in a cooperative manner. This paper proposes a framework for task and role selection strategy for distributed multi-robot coordination and its application to robot soccer. To deal with such a dynamic environment, context-based cooperation method is provided. The robot team has a task strategy and a task strategy ratio that can change the weight of the tasks, based on environmental changes. Using information on task strategy ratio and environmental changes, each robot in a team can effectively select its task and role. Computer simulations are carried out to demonstrate the effectiveness of the proposed framework for task and role selection for multi-robot cooperation.