Multi-agent Collaboration Model And Its Application In Robocup

Being the main research background of Multi-Agent Systems and Distributed Artificial Intelligence, Robot Soccer World Cup(RoboCup) supplies a standard tournament bed in order to foster the research and development of Robotics and Artificial Intelligence. To make a robot team play effectively, various technologies including design principles of autonomous agents, multi-agent coordination, strategy acquisition, real-time reasoning, robotics, and sensor-fusion must be incorporated.Using the multiple agents in RoboCup as research target, this dissertation analyzes the coordination among multiple agents in Multi-Agent Systems.As far as the architecture of the agent is concerned, this dissertation introduces behavior-based dual dynamic agent architecture in order to make the agents have both reactivity and deliberation. The first layer is elementary behavior layer whose purpose is to enhance the reactivity of the agents; the second is high-level behavior one with the purpose to improve the deliberation of the agents. And the joint between the two layers is confidence value.As far as the decision algorithm is concerned, this dissertation puts forward a novel behavior-based decision algorithm to make the agent act promptly and intelligently. This algorithm can be divided into individual decision and team decision. The former can make the agents achieve the relatively easy tasks and the latter accomplishes the complicated tasks.And the third point is about the coordination model. The multi-agent layered coordination model brought up in this dissertation promotes the collaborative agents to accomplish complex tasks. This model includes global layer, local layer and individual layer. The global layer supervises all the players in the field and decides the static formation or dynamic formation according to the modeling of the opponent and the present condition, this strategy improves the adaptability of the agents. Local layer includes three to five agents. According to formation, this dissertation separates a robot team into offense unit, defense unit and neutral one, in order to decrease the difficulty of coordination among agents. And individual layer supervises actions of agents, Such as clearing, shooting, intercepting, passing, dribbling, locating and facing ball, etc.The CSU_Yunlu team, using these strategies of the dissertation, won the 3rd Robocup2002 (simulation league) Chinese Championships. Actual results validate the above researches in the simulated robotic soccer domain.