Selectively reactive coordination for a team of robot soccer champions
Abstract
CMDragons 2015 is the champion of the RoboCup Small Size League of autonomous robot soccer. The team won all of its six games, scoring a total of 48 goals and conceding 0. This unprecedented dominant performance is the result of various features, but we particularly credit our novel offense multi-robot coordination. This paper thus presents our Selectively Reactive Coordination (SRC) algorithm, consisting of two layers: A coordinated opponent-agnostic layer enables the team to create its own plans, setting the pace of the game in offense. An individual opponent-reactive action selection layer enables the robots to maintain reactivity to different opponents. We demonstrate the effectiveness of our coordination through results from RoboCup 2015, and through controlled experiments using a physics-based simulator and an automated referee.
BibTeX
@conference{Mendoza-2016-122736,author = {Juan Pablo Mendoza and Joydeep Biswas and Philip Cooksey and Richard Wang and Steven Klee and Danny Zhu and Manuela Veloso},
title = {Selectively reactive coordination for a team of robot soccer champions},
booktitle = {Proceedings of 30th AAAI Conference on Artificial Intelligence (AAAI '16)},
year = {2016},
month = {February},
pages = {3354 – 3360},
}