The RoboFlag competition
Raffaello D’Andrea, Richard M. Murray · 2004
This paper provides an introduction to the RoboFlag competition and its use as a testbed for distributed control of multi-vehicle systems. The game consists of two teams of 6-10 robots and 2 people, each attempting to capture the other teams flag while defending their own. Limited sensing capability, distributed processing, and limited bandwidth communications are integral parts of the system. The features of RoboFlag provide a number of research challenges in distributed control, sensor fusion, team-based control, and human-centered control.