Tham khảo tài liệu 'multi-robot systems from swarms to intelligent automata - parker et al (eds) part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 56 McMillen et al. The RoboCup legged league continues to motivate our research in multirobot domains inspiring incremental algorithmic successes and providing many issues to be addressed. Interestingly the more we work on this adversarial multi-robot coordination problem the more we understand how the problems we face go well beyond robot soccer and are of relevance to multi-robot systems in complex environments. In this paper we present our findings aiming at such an abstract level. 2. Dynamic Multi-Robot Coordination Over the past few years teams have experimented with different methods of team coordination. Many of these strategies involve keeping teammates from running into each other and placing teammates in good locations on the field so that they can be in good positions to receive passes or go after a free ball. While there have been some good approaches no one strategy has emerged as being clearly superior to all others. One reason for this is that several different coordination strategies are likely to be applicable in a single situation. Since some strategies may work better than others a team that selects the superior strategy will be at an advantage. Thus one of the most important problems to address when designing a multi-robot soccer team is selecting the kind of coordination strategy that will be used during the game. Teams may choose to use a fixed coordination strategy defined a priori but if chosen poorly a fixed strategy may not fare well against the strategy of the other team. Thus an important extension to the research problem of coordination strategies is the ability for a team to dynamically change their strategy at runtime to adapt to their opponents strengths and weaknesses. Dynamically selecting a different strategy depending on the situation can be very powerful technique but can be very challenging to implement well. Robots that use a dynamic coordination system must be able to perceive and properly evaluate the state of the world as .
