Communication and Coordination among heterogeneous Mid-Size Players: ART99
Claudio Castelpietra4, Luca Iocchi4, Daniele Nardi4, Maurizio Piaggio5, Alessandro Scalzo5 and Antonio Sgorbissa5
| (4) |
Dipartimento di Informatica, Sistemistica Università “La Sapienza”, Roma, Italy |
| (5) |
Dipartimento di Informatica, Sistemistica e Telematica Università di Genova, Italy |
Abstract
Distributed coordination among robotic soccer agents has been considered in the recent years within the framework offered by the RoboCup competitions, mostly in the simulation
and F-180 leagues. In this paper we describe the methods and the results achieved in coordinating the players of the ART team
participating in the F-2000 league. The team is formed by several heterogeneous robots having different mechanics, different
sensors, different control software, and, in general, different abilities for playing soccer. The coordination framework we
have developed has been successfully applied during the 1999 official competitions allowing both for a significant improvement
of the overall team performance and for a complete interchangeability of all the robots.
Acknowledgments We are grateful to the members of the ART team and acknowledge the support of “Consorzio Padova Ricerche”, “Consiglio Nazionale
delle Ricerche”, Universitàdi Roma “La Sapienza”, Politecnico di Milano, Università di Padova, Università di Genova, Università
di Palermo, Università di Parma, AI IA, Vesta pneumatics,Sony Italia, Images, Tekno.
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