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Proceedings Paper

Anticipation as a key for collaboration in a team of agents: a case study in robotic soccer
Author(s): Manuela M. Veloso; Peter Stone; Michael Bowling
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Paper Abstract

We investigate teams of compete autonomous agents that can collaborate towards achieving precise objectives in an adversarial dynamic environment. We have pursued these two frameworks emphasizing their different technical challenges. Creating effective members of a team is a challenging research problem. We first address this issue by introducing a team architecture organization which allows for a rich task decomposition between team members. The main contribution of this paper is our introduction of an action- selection algorithm that allows for a teammate to anticipate the needs of other teammates. Anticipation is critical for maximizing the probability of successful collaboration in teams of agents. We show how our contribution applies to the two concrete robotic soccer frameworks and present controlled empirical result run in simulation. Anticipation was successfully used by both our CMUnited-98 simulator and CMUnited-98 small-robot teams in the RoboCup-98 competition. The two teams are RoboCup-98 world champions each in its own league.

Paper Details

Date Published: 26 August 1999
PDF: 8 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360333
Show Author Affiliations
Manuela M. Veloso, Carnegie Mellon Univ. (United States)
Peter Stone, Carnegie Mellon Univ. (United States)
Michael Bowling, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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