Multi-Agent Coordination for a Partially Observable and Dynamic Robot Soccer Environment with Limited Communication
CoRR(2024)
摘要
RoboCup represents an International testbed for advancing research in AI and
robotics, focusing on a definite goal: developing a robot team that can win
against the human world soccer champion team by the year 2050. To achieve this
goal, autonomous humanoid robots' coordination is crucial. This paper explores
novel solutions within the RoboCup Standard Platform League (SPL), where a
reduction in WiFi communication is imperative, leading to the development of
new coordination paradigms. The SPL has experienced a substantial decrease in
network packet rate, compelling the need for advanced coordination
architectures to maintain optimal team functionality in dynamic environments.
Inspired by market-based task assignment, we introduce a novel distributed
coordination system to orchestrate autonomous robots' actions efficiently in
low communication scenarios. This approach has been tested with NAO robots
during official RoboCup competitions and in the SimRobot simulator,
demonstrating a notable reduction in task overlaps in limited communication
settings.
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