Research on Human-Robot Cooperation in RoboCup Soccer

With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member’s position and actions. In this paper, we discuss the results of the development of a learning system that uses SOM to select behaviors depending on the situation.This system can reproduce the action selection algorithm of all players in a certain team, and the robot can instantly select the next cooperative action from the information obtained during the game. Because of this system, common sense rules was shared to learn an action selection algorithm for a set of agents, not only a team consisting of robots alone, but also a group of heterogeneous agents consisting of humans and robots.九州工業大学博士学位論文 学位記番号：生工博甲第405号 学位授与年月日：令和3年3月25日第1章 序論| 第2章 人間チームの行動解析| 第3章 自己組織的チーム行動獲得システム| 第4章 行動決定システムの実装及び評価|第5章 考察及び結論九州工業大学令和2年