MICRO-ROBOT SOCCER SYSTEM: Action Selection Mechanism and Strategies

This paper describes an overall robot-soccer system, associated action selection mechanism and strategies. The robots used in MiroSot are small in size (7.5cm 7.5cm 7.5cm), fully/semi autonomous and without any human operators. MiroSot involves multiple robots that need to collaborate in an adversarial environment to achieve speciic objectives. In multi-robot systems the environment's dynamics can be determined by other robots in addition to the uncertainty that may be inherent in the domain. They have dynamic environments as other robots intentionally aaect the environment in unpredictable ways. The key aspect being the need for robots not only to control themselves, but also to track and control the ball which is a passive part of the environment. The interesting theoretical issue behind MiroSot experiments is the use of soccer as a prototype example of a complex, adaptive system.