Skills, tactics and plays for distributed multi-robot control in adversarial environments

\u3cp\u3eThis work presents a pioneering collaboration between two robot soccer teams from different RoboCup leagues, the Small Size League (SSL) and the Middle Size League (MSL). In the SSL, research is focused on fast-paced and advanced team play for a centrally-controlled multi-robot team. MSL, on the other hand, focuses on controlling a distributed multi-robot team. The goal of cooperation between these two leagues is to apply teamwork techniques from the SSL, which have been researched and improved for years, in the MSL. In particular, the Skills Tactics and Plays (STP) team coordination architecture, developed for centralized multi-robot team, is studied and integrated into the distributed team in order to improve the level of team play. The STP architecture enables more sophisticated team play in the MSL team by providing a framework for team strategy adaptation as a function of the state of the game. Voting-based approaches are proposed to overcome the challenge of adapting the STP architecture to a distributed system. Empirical evaluation of STP in the MSL team shows a significant improvement in offensive game play when distinguishing several offensive game states and applying appropriate offensive plays.\u3c/p\u3

Tech United Eindhoven Middle size league winner 2016

\u3cp\u3eThe Tech United Eindhoven Mid-size league (MSL) team won the 2016 Championship in Leipzig. This paper describes the main progress we made in 2016 which enabled this success. Recent progress in software includes improved perception methods using combined omnivision of different robots and integrating the Kinect v2 camera onto the robots. To improve the efficiency of shots at the opponents’ goal, the obstacle detection is improved. During the tournament new defensive strategies were developed as an answer to the advanced attacking strategies that were seen during the round robins. Several statistics of matches during the tournament show the overall performance of Tech United at RoboCup 2016.\u3c/p\u3