Robot soccer collision modelling and validation in multi-agent simulator

The paper deals with mathematical modelling and simulation of collisions in robot soccer representing ideal playground for studying multi-agent mobile systems. It involves robot and ball dynamic behaviour and focuses mainly on their collisions study and their realization. Some vital parts of the simulator are explained and modelled in more detail, beginning with the simple model of ball and robot motion and continuing with more complex collision models. Special consideration is given to collision between robots. The design of such model takes two steps. In the first, information about possible collision is obtained. The second step realizes collision by determining appropriate force impulse. The results from model verification are presented. It is shown that the developed model represents a good basis for realistic, yet simple enough, collision simulation. The paper concludes with some remarks and ideas for future work.