Sharing Belief in Teams of Heterogeneous Robots

  • Hans Utz
  • Freek Stulp
  • Arndt Mühlenfeld
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)


This paper describes the joint approach of three research groups to enable a heterogeneous team of robots to exchange belief. The communication framework presented imposes little restrictions on the design and implementation of the individual autonomous mobile systems. The three groups have individually taken part in the RoboCup F2000 league since 1998. Although recent rule changes allow for more robots per team, the cost of acquiring and maintaining autonomous mobile robots keeps teams from making use of this opportunity. A solution is to build mixed teams with robots from different labs. As almost all robots in this league are custom built research platforms with unique sensors, actuators, and software architectures, forming a heterogeneous team presents an exciting challenge.


Belief State Multicast Group Autonomous Mobile Robot Communication Framework Robot Soccer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Hans Utz
    • 1
  • Freek Stulp
    • 2
  • Arndt Mühlenfeld
    • 3
  1. 1.University of UlmUlmGermany
  2. 2.Technische Universität MünchenMünchenGermany
  3. 3.Technische Universität GrazGrazAustria

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