AAAI Publications, Thirtieth AAAI Conference on Artificial Intelligence

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Selectively Reactive Coordination for a Team of Robot Soccer Champions
Juan Pablo Mendoza, Joydeep Biswas, Philip Cooksey, Richard Wang, Steven Klee, Danny Zhu, Manuela Veloso

Last modified: 2016-03-05


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.


Multi-robot coordination; Robot Soccer; Planning and Execution

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