A constraint-based robotic soccer team

被引:1
作者
Zhang Y. [1 ]
Mackworth A.K. [1 ]
机构
[1] Lab. for Computational Intelligence, Department of Computer Science, University of British Columbia, Vancouver
基金
加拿大自然科学与工程研究理事会;
关键词
Constraint nets; Evolutionary algorithm; Multi-agent collaboration; Real-time control; Robotic architecture;
D O I
10.1023/A:1017936325308
中图分类号
学科分类号
摘要
It is a challenging task for a team of multiple fast-moving robots to cooperate with each other and to compete with another team in a dynamic, real-time environment. For a robot team to play soccer successfully, various technologies have to be incorporated including robotic architecture, multi-agent collaboration and real-time reasoning. A robot is an integrated system, with a controller embedded in its plant. A robotic system is the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. Constraint Nets (CN) provide a semantic model for modeling hybrid dynamic systems. Controllers are embedded constraint solvers that solve constraints in real-time. A controller for our robot soccer team, UBC Dynamo98, has been modeled in CN, and implemented in Java, using the Java Beans architecture. A coach program using an evolutionary algorithm has also been designed and implemented to adjust the weights of the constraints and other parameters in the controller. The results demonstrate that the formal CN approach is a practical tool for designing and implementing controllers for robots in multi-agent real-time environments. They also demonstrate the effectiveness of applying the evolutionary algorithm to the CN-modeled controllers.
引用
收藏
页码:7 / 28
页数:21
相关论文
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