This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 2015, available online:http://www.tandfonline.com/10.1080/01691864.2015.1017534Coordination strategy is a relevant topic in multi-robot systems, and robot soccer offers a suitable domain to conduct research in multi-robot coordination. Team strategy collects and uses environmental information to derive optimal team reactions, through cooperation among individual soccer robots. This paper presents a diagrammatic approach to architecting the coordination strategy of robot soccer teams by means of a principle solution. The proposed model focuses on robot soccer leagues that possess a central decision-making system, involving the dynamic selection of the roles and behaviors of the robot soccer players. The work sets out from the conceptual design phase, facilitating cross-domain development efforts, where different layers must be interconnected and coordinated to perform multiple tasks. The principle solution allows for intuitive design and the modeling of team strategies in a highly complex robot soccer environment with changing game conditions. Furthermore, such an approach enables systematic realization of collaborative behaviors among the teammates.This work was partially supported by the Spanish Ministry of Economy and Competitiveness (MINECO) under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-C02-01/02. Jose G. Guarnizo was supported by a scholarship from the Administrative Department of Science, Technology and Innovation COLCIENCIAS, Colombia.Guarnizo Marín, JG.; Mellado Arteche, M.; Low, CY.; Blanes Noguera, F. (2015). Architecting centralized coordination of soccer robots based on principle solution. Advanced Robotics. 29(15):989-1004. https://doi.org/10.1080/01691864.2015.1017534S98910042915Farinelli, A., Iocchi, L., & Nardi, D. (2004). Multirobot Systems: A Classification Focused on Coordination. IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), 34(5), 2015-2028. doi:10.1109/tsmcb.2004.832155Tews, A., & Wyeth, G. (2000). MAPS: a system for multi-agent coordination. Advanced Robotics, 14(1), 37-50. doi:10.1163/156855300741429Stulp, F., Utz, H., Isik, M., & Mayer, G. (2010). Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. Advanced Robotics, 24(7), 1017-1036. doi:10.1163/016918610x496964Guarnizo, J. G., Mellado, M., Low, C. Y., & Aziz, N. (2013). Strategy Model for Multi-Robot Coordination in Robotic Soccer. Applied Mechanics and Materials, 393, 592-597. doi:10.4028/www.scientific.net/amm.393.592Riley, P., & Veloso, M. (2002). Recognizing Probabilistic Opponent Movement Models. Lecture Notes in Computer Science, 453-458. doi:10.1007/3-540-45603-1_59Ros, R., Arcos, J. L., Lopez de Mantaras, R., & Veloso, M. (2009). A case-based approach for coordinated action selection in robot soccer. Artificial Intelligence, 173(9-10), 1014-1039. doi:10.1016/j.artint.2009.02.004Atkinson, J., & Rojas, D. (2009). On-the-fly generation of multi-robot team formation strategies based on game conditions. Expert Systems with Applications, 36(3), 6082-6090. doi:10.1016/j.eswa.2008.07.039Costelha, H., & Lima, P. (2012). Robot task plan representation by Petri nets: modelling, identification, analysis and execution. Autonomous Robots, 33(4), 337-360. doi:10.1007/s10514-012-9288-xAbreu, P. H., Silva, D. C., Almeida, F., & Mendes-Moreira, J. (2014). Improving a simulated soccer team’s performance through a Memory-Based Collaborative Filtering approach. Applied Soft Computing, 23, 180-193. doi:10.1016/j.asoc.2014.06.021Duan, Y., Liu, Q., & Xu, X. (2007). Application of reinforcement learning in robot soccer. Engineering Applications of Artificial Intelligence, 20(7), 936-950. doi:10.1016/j.engappai.2007.01.003Hwang, K.-S., Jiang, W.-C., Yu, H.-H., & Li, S.-Y. (2011). Cooperative Reinforcement Learning Based on Zero-Sum Games. Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training. doi:10.5772/26620Gausemeier, J., Dumitrescu, R., Kahl, S., & Nordsiek, D. (2011). Integrative development of product and production system for mechatronic products. Robotics and Computer-Integrated Manufacturing, 27(4), 772-778. doi:10.1016/j.rcim.2011.02.005Klančar, G., Zupančič, B., & Karba, R. (2007). Modelling and simulation of a group of mobile robots. Simulation Modelling Practice and Theory, 15(6), 647-658. doi:10.1016/j.simpat.2007.02.002Gausemeier, J., Frank, U., Donoth, J., & Kahl, S. (2009). Specification technique for the description of self-optimizing mechatronic systems. Research in Engineering Design, 20(4), 201-223. doi:10.1007/s00163-008-0058-
