Design of action level in a hybrid control structure for vision based soccer robot system

A soccer robot system consists of multi-agents with highly coordinated operations and movements so as to fulfill specific objectives, even under adverse situations. The coordination of multiagents is associated with lot of supplementary work in advance. The associated issues are position correction, prevention of communication congestion, local information sensing in addition to the need for imitating human-like decision making. A hybrid control structure for vision-based soccer robot system is designed and several behaviors and actions for a soccer robot system are proposed. The hybrid control scheme has hierarchical and behavioral structures. The effectiveness of the proposed structure is validated by implementing the same in a real soccer robot system. Variable zone defense as a basic strategy, formation strategies and set-position play strategies for fouls applied to SOTY II team during MiroSot are discussed.