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 its reactivity. Positioning assignment is carried out at a lower frequency by a coach agent following a new prioritybased algorithm that maintains a competitive formation, covering the most important positionings when malfunctions lead to a reduction of the team size. Coordinated procedures for passing and setplays have also been implemented. With this design, CAMBADA reached the 1st place in RoboCup’2008 and the 3rd place in RoboCup’2009. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed. 2010 Elsevier Ltd. All rights reserved.