839 Cooperative Control Method for Autonomous Mobile Robots Based on Self and Group Evaluation
Hikari Fujii, Masayuki Kato, Masaki Takahashi, Kazuo YOSHIDA · The Proceedings of the Dynamics & Design Conference · 2007
This paper presents a cooperative control method for a multi-agent robot system. The concept of this method is based on the evaluation information on the objective of multi-agent system. Robots communicate each other self-evaluation information on the objective. Each robot calculates the global evaluation information using shared self-evaluation information of whole robot. This method enables robots to perform flexible cooperation in dynamic environment. Its usefulness is verified by applying the method to the soccer playing robots for the middle size league of RoboCup. It was confirmed that effective cooperative behaviors such as efficiency of tasks and reduction of collisions among teammates are realized in heterogeneous soccer robots.