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1、英文资料及中文翻译Development of a multi-agent system for robot soccer game一、IntroductionAs modern industrial society progresses, the needs for useful robots are growing. Especially, mobile robots are special issue that gradually expands its realm in industrial and studying topics. Researches on mobile robot
2、s have been mainly concentrated on single mobile robot. But, the development of multi-agent system is strongly needed by the growth of complexity of tasks for robots to perform.The multi-agent systems have been studied by many researchersl-3. Generally, multiagent system is defined as the system com
3、posed of more than 2 robots 4 and performs the given task by cooperation. The system has some different factors compared with single robot system. First, the environment for robots to confront is dynamic. In multi-agent system, the robots themselves constitute dynamic environment, because each robot
4、 should recognize the other robots as moving obstacles. Many previous researches on mobile robots assume that the environment is static, even for the researches on single mobile robot5,6. Second, since the system performs given task by cooperation, it is necessary to make overall system plan forrole
5、s of robots. One of the obvious characteristics of the multi-agent system is cooperation - for example, 4-5 robots carry furniture 7. To cooperate one another, the changes of robots position must be predictable. There are some ways to know the robots position. For example, robots communicate their p
6、osition one after another, or a supervisor detects robots position and transmits them to robots. It is related to communication problem. Third, each component of the system such as robots, a supervisor, sensors, communication equipment is well developed, because they influence the overall system per
7、formance. Also, it is necessary to adopt appropriate architecture.Robot soccer is an interesting domain for studying the multi-agent system. The players must work together: It means a sort of cooperation. Also, they play the game in dynamic environment: predictable and unpredictable environment - ou
8、r robots and opponents robots, respectively. The main object is to put the ball in opponents goal as frequently as possible in presence of opponents robots which have the same task. So, according to a situation, our robots decide which action they take -defense or offense, how they work and so on. I
9、n this point, the system needs real-time sensing, quick decision making and fast behaviors. It is related to system architecture and algorithms. As described above , soccer game includes many characteristics of multi-agent system and is abundant in applying AI techniques.One of the advantages of rob
10、ot soccer game is direct comparison of different systems. Many robot soccer systems are gathered in some competitions. We participated in a Soccer robot competition in Taejon, Korea called MIROSOT96 8. MIROSOT makes some rules. The rules describe precise specification for soccer game. The playground
11、 is rectangular with its length 130cm, its width 90cm. An orange golf ball is selected as the play ball. The size of a robot is restricted within 7.5*7.5*7.5cm. One team consists of three robots. We purpose to make soccer system with three robots.In this paper, we explain some factors to be consider
12、ed in establishing complete system. First, since the system architecture is very important, we decide the overall system as a centralized on-line system on the basis of surveys of multi-agent systems. Second, the overall system can be divided into three parts - A robot, communication and vision syst
13、em. We describe the specifications of components of each part and the reasons to decide them. It would be helpful for later improvement.The rest of the paper is organized as follows. Section 2 gives some surveys of system architectures and selection of our soccer robot system. Section 3 gives detail
14、ed descriptions of implemented hardware, especially mini robots. Section 4 gives cooperation and path plan algorithm for robot soccer game. Section 5 gives conclusion of this paper and presents further works.二、Categorization of multi-agent system and selection of soccer robot systemThe survey on thi
15、s issue is closely related in Arais work4. We can categorize multi- agent system based on two criteria. One is Who makes decision and orders?- Centralized / Decentralized , the other is When does the system make plans? - On line / Offline.Centralized system means that a supervisor integrates all ava
16、ilable data, plans the behaviors of all the robots and makes commands. Since a supervisor considers all the robots simultaneously, the system can achieve the optimization of the motions of all the robots. But, as the number of robot increases, more computational power of a supervisor is needed. If the supervisor makes any fault, there is no way for the robots to correct it.Decentralized system means that each robot makes plan for itself on the basis
