Modelo de estratégia e coordenação genérico para sistemas multi-agente

Estágio realizado na Universidade de Aveiro e orientado pelo Prof. Doutor Jose Nuno Panelas Nunes LauTese de mestrado integrado. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 200

Situation based strategic positioning for coordinating a team of homogeneous agents

. In this paper we are proposing an approach for coordinating a team ofhomogeneous agents based on a flexible common Team Strategy as well as onthe concepts of Situation Based Strategic Positioning and Dynamic Positioningand Role Exchange. We also introduce an Agent Architecture including a specifichigh-level decision module capable of implementing this strategy. Ourproposal is based on the formalization of what is a team strategy for competingwith an opponent team having opposite goals. A team strategy is composed of aset of agent types and a set of tactics, which are also composed of several formations.Formations are used for different situations and assign each agent a defaultspatial positioning and an agent type (defining its behaviour at several levels).Agents reactivity is also introduced for appropriate response to the dynamicsof the current situation. However, in our approach this is done in a way thatpreserves team coherence instead of permitting uncoordinated agent behaviour.We have applied, with success, this coordination approach to the RoboSoccersimulated domain. The FC Portugal team, developed using this approach wonthe RoboCup2000 (simulation league) European and World championshipsscoring a total of 180 goals and conceding none

Agents for educational games and simulations

This book consists mainly of revised papers that were presented at the Agents for Educational Games and Simulation (AEGS) workshop held on May 2, 2011, as part of the Autonomous Agents and MultiAgent Systems (AAMAS) conference in Taipei, Taiwan. The 12 full papers presented were carefully reviewed and selected from various submissions. The papers are organized topical sections on middleware applications, dialogues and learning, adaption and convergence, and agent applications

A Mechanism for Dynamic Coordination of Multiple Robots

In this paper, we present a mechanism for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed mechanism are presented

A Survey and Analysis of Multi-Robot Coordination

International audienceIn the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper

Individual and coordinated decision for the CAMBADA team

Mestrado em Engenharia de Computadores e TelemáticaA coordenação em sistemas multi-robô é um aspecto crucial no futebol robótico. A maneira como cada equipa coordena cada um dos seus robôs em acções cooperativas define a base da sua estratégia. Este trabalho tem como foco o desenvolvimento da coordenação e estratégia da equipa CAMBADA. CAMBADA é a equipa de futebol robótico da modalidade RoboCup Middle Size League da Universidade de Aveiro. Foi desenvolvida pelo grupo ATRI, pertencente µa unidade de investigação IEETA. O presente trabalho baseia-se em trabalho desenvolvido anteriormente, tentando melhorar o desempenho da equipa. Cada robô da equipa CAMBADA é um agente independente e autónomo capaz de coordenar as suas acções com os colegas de equipa através da comunicação e da partilha de informação. O comportamento de cada robô deverá ser integrado na estratégia global da equipa, resultando assim em acções cooperativas de todos os robôs. Isto é conseguido através do uso de papeis(roles) e comportamentos(behaviours) que definem a atitude de cada robô e as acções que daí resultam. Novos papeis foram desenvolvidos para complementar a estratégia de equipa, e alguns dos papeis existentes foram melhorados. Também foram efectuadas melhorias em alguns dos comportamentos existentes. É efectu- ada a descrição de cada um destes papeis e comportamentos, assim como as alterações efectuadas. O trabalho desenvolvido foi testado nas competições do Robótica 2008 (o desenvolvimento não estava ainda concluído) e por fim nas competições do RoboCup'2008. A participação da equipa no RoboCup'2008 é analisada e discutida. A equipa consagrou-se campeã mundial, vencendo a competição da Middle Size League do RoboCup'2008 em Suzhou, China. ABSTRACT: Multi-robot coordination is one crucial aspect in robotic soccer. The way each team coordinates its individual robots into cooperative global actions define the foundation of its strategy. CAMBADA is the RoboCup Middle Size League robotic soccer team of the University of Aveiro. It was created by the ATRI group, part of the IEETA research unit. This work is focused on coordination and strategy development for the CAMBADA team. It is built upon previous work and tries to improve the team performance further. In CAMBADA each robot is an independent agent, it coordinates its actions with its teammates through communication and information exchange. The resulting behaviour of the individual robot should be integrated into the global team strategy, thus resulting in cooperative actions by all the robots. This is done by the use of roles and behaviours that define each robot attitude in the field and resulting individual actions. In this work, new roles were created to add to the team strategy and some of the previous existing roles were improved. Some of the existing behaviours were also improved to better fit the desired goals. Each role and behaviour is described as well as the changes made. The resulting work was put to test in the portuguese Robotica 2008 competition (while still in progress) and finally in the RoboCup'2008 world competitions. The performance of the team in the latter is analysed and discussed. The team achieved the 1st place in the RoboCup'2008 MSL world competitions