Cooperative Strategy using Dynamic Role Assignment and Potential Fields Path Planning

Abstract

Abstract—This paper describes a cooperative strategy for a robot soccer team. The proposed strategy uses dynamic role assignment, which allows the team to have a flexible and robust strategy. Each role is defined as a state-machine, where each state triggers different behaviors. Transitions between states are triggered by internal and external robot conditions. The positions of the robots in the field are dynamically controlled using potential fields, which makes possible a better field coverage. Index Terms—Cooperative Strategy, robot soccer, potential fields, multi-agents.