STP: Skills, tactics, and plays for multi-robot control in adversarial environments

Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

Volumn 219, Issue 2, 2005, Pages 33-52

  Browning, B ^a   Bruce, J ^a   Bowling, M ^a   Veloso, M ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Adaptive coordination; Adversarial task; Autonomous robots; Multi robot coordination

Indexed keywords

CAMERAS; DECISION MAKING; ENCODING (SYMBOLS); SYNCHRONIZATION; WIRELESS TELECOMMUNICATION SYSTEMS; AUTONOMOUS AGENTS; COMPUTER ARCHITECTURE; CONTROL SYSTEM ANALYSIS; HIERARCHICAL SYSTEMS; PROBLEM SOLVING;

ADAPTIVE COORDINATION; ADVERSARIAL TASK; MULTI-ROBOT COORDINATION; ROBOT TEAM; HIERARCHICAL ARCHITECTURE;

ROBOTS; ROBOTICS;

EID: 18844391536     PISSN: 09596518     EISSN: None     Source Type: Journal    
DOI: 10.1243/095965105X9470     Document Type: Article

References (40)

1. Parker, L. Alliance: an architecture for fault-tolerant multi-robot cooperation. IEEE Trans. Robotics Automn, 1998, 14(2), 220-240.
2. Dias, M. B. and Stentz, A. Opportunistic optimization for market-based multi-robot control. In Proceedings of (IROS-2002), September 2002.
3. Brooks, R. A. A robust layered control system for a mobile robot. IEEE J. Robotics Automn, March 1986, 2(1), 14-23.
4. Arkin, R. C. Behaviour-based Robotics, 1998 (MIT Press, Cambridge, Massachusetts).
5. Simmons, R., Fernandez, J., Goodwin, R., Koenig, S. and O'Sullivan, J. Lessons learned from Xavier. IEEE Robotics Automn Mag., June 2000, 7(2), 33-39.
6. Kitano, H., Asada, M., Kuniyoshi, Y., Noda, I. and Osawa, E. RoboCup: the robot world cup initiative. In Proceedings of the First International Conference on Autonomous Agents (Agents'97) (Eds W. L. Johnson and B. Hayes-Roth), New York, 1997, pp. 340-347 (ACM Press, New York).
7. Asada, M., Obst, O., Polani, D., Browning, B., Bonarini, A., Fujita, M., Christaller, T., Takahashi, T., Takokoro, S., Sklar, E. and Kaminka, G. A. An over-view of RoboCup-2002 Fukuoka/Busan. AI Mag., Spring 2003, 24(2), 21-40.
8. Bruce, J., Bowling, M., Browning, B. and Veloso, M. Multi-robot team response to a multi-robot opponent team. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA'93], Taiwan, May 2003 (in press).
9. Veloso, M., Stone, P. and Han, K. The CMUnited-97 robotic soccer team: perception and multiagent control. Robotics Autonomous Systems, 1999, 29(2-3), 133-143.
10. Veloso, M., Bowling, M., Achim, S., Han, K. and Stone, P. CMUnited-98: a team of robotic soccer agents. In Proceedings of (IAAI-99), 1999.
11. Veloso, M., Bowling, M. and Achim, S. CMUnited-99: small-size robot team. In RoboCup-99: Robot Soccer World Cup III (Eds M. Veloso, E. Pagello and H. Kitano) 2000, pp. 661-662 (Springer-Verlag, Berlin).
12. Browning, B., Bowling, M., Bruce, J., Balasubramanian, R. and Veloso, M. Cmdragons'01 - vision-based motion tracking and heterogeneous robots. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
13. Bruce, J., Balch, T. and Veloso, M. Fast and inexpensive color image segmentation for interactive robots. In Proceedings of (IROS-2000), Japan, October 2000.
14. Bruce, J. and Veloso, M. Fast and accurate vision-based pattern detection and identification. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA'03), Taiwan, May 2003 (in press).
15. Gat, E. On three-layer architectures. In Artificial Intelligence and Mobile Robots, 1997 (MIT-AAAI Press).
16. Simmons, R., Smith, T., Dias, M. B., Goldberg, D., Hershberger, D., Stentz, A. and Zlot, R. A layered architecture for coordination of mobile robots. In Multi-Robot Systems: From Swarms to Intelligent Automata, 2002 (Kluwer, Dordrecht).
17. Bruce, J. and Veloso, M. Real-time randomized path planning for robot navigation. In Proceedings of (IROS-2002), Switzerland, October 2002 (in press).
18. LaValle, S. M. Rapidly-exploring random trees: a new tool for path planning. Technical Report 98-11, October 1998.
19. Nise, N. S. Control Systems Engineering: Analysis and Design, 1991 (Benjamin Cummings).
20. Lenser, S., Bruce, J. and Veloso, M. A modular hierarchical behavior-based architecture. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
21. Littlestone, N. and Warmuth, M. The weighted majority algorithm. Information and Computation, 1994, 108, 212-261.
22. Auer, P., Casa-Bianchi, N., Freund, Y. and Schapire, R. E. Gambling in a rigged casino: The adversarial multi-arm bandit problem. In Proceedings of the 36th Annual Symposium on The Foundations of Computer Science, Milwaukee, Wisconsin, 1995, pp. 322-331 (IEEE Computer Society Press, New York).
23. Bowling, M., Browning, B. and Veloso, M. Plays as effective multiagent plans enabling opponent-adaptive play selection. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS'04), 2004 (in press).
24. Rojas, R., Behnke, S., Liers, A. and Knipping, L. FU-Fighters 2001 (global vision). In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
25. Behnke, S. and Rojas, R. A hierarchy of reactive behaviors handles complexity. In Balancing Reactivity and Social Deliberation in Multi-agent Systems, 2001, pp. 239-248 (Springer-Verlag, Berlin).
26. Balch, T., Boone, G., Collins, T., Forbes, H., MacKenzie, D. and Santamaria, J. Io, Ganymede and Callisto - a multiagent robot trash-collecting team. AI Mag., 1995, 16(2), 39-53.
27. Kiat, N. B., Ming, Q. Y., Hock, T. B., Yee, Y. S. and Koh, S. LuckyStar II. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
28. Wyeth, G., Ball, D., Cusack, D. and Ratnapala, A. UQ RoboRoos: achieving power and agility in a small size robot. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
29. Nagasaka, Y., Murakami, K., Naruse, T., Takahashi, T. and Mori, Y. Potential field approach to short term action planning in RoboCup F180 league. In RoboCup-2002: Robot Soccer World Cup VI (Eds P. Stone, T. Balch and G. Kraetzschmar), 2001, pp. 41-51 (Springer-Verlag, Berlin).
30. Stancliff, S., Balasubramanian, R., Balch, T., Emery, R., Sikorski, K. and Stroupe, A. CMU Hammerheads 2001 team description. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
31. Meyer, J., Adolph, R., Stephan, D., Daniel, A., Seekamp, M., Weinert, V. and Visser, U. Decision-making and tactical behavior with potential fields. In RoboCup-2002: Robot Soccer World Cup VI (Eds R. Rojas, G. A. Kaminka, P. U. Lima), 2003, pp. 304-311 (Springer-Verlag, Berlin).
32. Johansson, S. J. and Saffiotti, A. Using the electric field approach in the RoboCup domain. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
33. Khatib, O. Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robotics Res., Spring 1986, 5(1).
34. Arkin, R. C. Motor schema based navigation for a mobile robot. In Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, April 1987, pp. 264-271 (IEEE, New York).
35. Damas, B. D., Lima, P. U. and Custodio, L. M. A modified potential fields method for robot navigation applied to dribbling in robotic soccer. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).
36. Emery, R., Balch, T., Shern, R., Sikorski, K. and Stroupe, A. CMU Hammerheads team description. In RoboCup-2000: Robot Soccer World Cup IV (Eds P. Stone, T. Balch and G. Kraetzschmar), 2001, pp. 575-578 (Springer-Verlag, Berlin).
37. Wyeth, G., Tews, A. and Browning, B. UQ Robo-Roos: kicking on to 2000. In RoboCup-2000: Robot Soccer World Cup IV (Eds P. Stone, T. Balch and G. Kraetzschmar), 2001, pp. 555-558 (Springer-Verlag, Berlin).
38. D'Andrea, R., Kalmar-Nagy, T., Ganguly, P. and Babish, M. The Cornell RoboCup team. In RoboCup-2000: Robot Soccer World Cup IV (Eds P. Stone, T. Balch and G. Kraetzschmar), 2001, pp. 41-51 (Springer-Verlag, Berlin).
39. Bowling, M. and Velos, M. Motion control in dynamic multi-robot environments. In RoboCup-99: Robot Soccer World Cup III (Eds M. Veloso, E. Pagello and H. Kitano) 2000, pp. 222-230 (Springer-Verlag, Berlin).
40. Weigel, T., Kliener, A., Diesch, F., Dietl, M., Gutmann, J.-S., Nebel, B., Stiegeier, P. and Szerbakowski, B. CS Freiburg 2001. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences (Eds A. Birk, S. Coradeschi and S. Tadokoro), 2002 (Springer-Verlag, Berlin).