Levels of multi-robot coordination for dynamic environments

Abstract

RoboCup, the international robot soccer competition, poses a set of extremely difficult challenges for multi-robot systems. To be competitive in RoboCup's rapidly-changing, dynamic, adversarial environment, teams need to make use of effective coordination strategies. We describe some of our experiences with effective coordination of robots teams and introduce several levels of strategies which encapsulate coordination from the level of individual robots to synchronized coordination of the entire team. © 2005 Springer.