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.
Cite
Text
Mendoza et al. "Selectively Reactive Coordination for a Team of Robot Soccer Champions." AAAI Conference on Artificial Intelligence, 2016. doi:10.1609/AAAI.V30I1.10415Markdown
[Mendoza et al. "Selectively Reactive Coordination for a Team of Robot Soccer Champions." AAAI Conference on Artificial Intelligence, 2016.](https://mlanthology.org/aaai/2016/mendoza2016aaai-selectively/) doi:10.1609/AAAI.V30I1.10415BibTeX
@inproceedings{mendoza2016aaai-selectively,
title = {{Selectively Reactive Coordination for a Team of Robot Soccer Champions}},
author = {Mendoza, Juan Pablo and Biswas, Joydeep and Cooksey, Philip and Wang, Richard and Klee, Steven D. and Zhu, Danny and Veloso, Manuela M.},
booktitle = {AAAI Conference on Artificial Intelligence},
year = {2016},
pages = {3354-3360},
doi = {10.1609/AAAI.V30I1.10415},
url = {https://mlanthology.org/aaai/2016/mendoza2016aaai-selectively/}
}