We discuss how to induce a set of collaborative emergent actions between two soccer robots. Cooperative abilities, like exchanging
a ball, can be achieved through the use of efficient collision avoidance algorithms implemented on two players able to frequently
swap their roles. These algorithms have been tested on Bart and Homer, designed at IAS Lab. of Padua Univ., that played quarter,
semifinals, and finals with ART at RoboCup'99. The interaction with the ball was made easy by a directional kicker which allowed
to hit the ball both frontally and laterally.
Acknowledgements This research was supported partially by MURST (Certamen Project), by CNR (Special Project), and by the ENEA (Parallel Computing
Project). We acknowledge P. De Pascalis, P. Filippin, M. Lorenzetti, A. Modolo, P. Patuelli, N. Scattolin, A. Vaglio, and
in particular Matteo Peluso, all students at the Eng. School of Padua Univ., who contributed to the researches illustrated
in this paper. We like also to acknowledge all the members of ART, in cooperation with which we have developed and tested
the dynamic role assignment, in particular G. Adorni, A. Bonarini, D. Nardi, and M. Piaggio.
(+)also with LADSEB-CNR, Padua, Italy