The research of multiagent systems has been widely studied for many years, however, the topic of multirobot team competitions has not been extensively investigated. In this paper, we propose a fully distributed, behavior-based software architecture termed Emerge, which facilitates flexible and reliable coordination on a team of robots performing tasks that may be subverted by another team of robots. Emerge enables the robots to achieve flexible action selections through the use of four mathematically-modeled motivations (practicability, feasibility, tendency and execution priority). With the aid of these motivations, the human knowledge, which usually involves a number of fuzzy concepts, may be conveniently merged to the robot team by following a clear and logical design procedure. The feasibility of this architecture has been demonstrated through an example on a team of robots performing a simulated 3-on-3 robot soccer game.
|Number of pages||6|
|State||Published - 1 Dec 1999|
|Event||The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99) - San Jose, CA, USA|
Duration: 29 Nov 1999 → 3 Dec 1999
|Conference||The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)|
|City||San Jose, CA, USA|
|Period||29/11/99 → 3/12/99|