Abstract
This paper describes the strategy and implementation details of a cooperative agent team for the CiberMouse@RTSS08, a robotics simulation competition. The paper introduces several concepts concerning cooperative robotics, giving an overview of its applications and challenges. It also presents the CiberMouse@RTSS08 competition rules and the associated simulation system. The proposed approach is based on a deliberative architecture, thus providing an autonomous intelligent behaviour. A probabilistic mapping procedure, based on the Bayes’ theorem, is used to maintain an internal world state. Quadtrees and A* are used for path planning and plan execution. A specific methodology was developed for beacon finding. The agents cooperate on exchanging world and beacon information. In order to overcome the simulator’s broadcasting distance limitation, a communication network between the agents was created. The paper analyses the impact of cooperation on this particular problem, by comparing the team’s performance in four different situations: communication with network and beacon exchanging, communication without network, communication without beacon exchanging and no communication at all.
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Azevedo, J., Oliveira, M., Pacheco, P., Reis, L.P. (2009). A Cooperative CiberMouse@RTSS08 Team. In: Lopes, L.S., Lau, N., Mariano, P., Rocha, L.M. (eds) Progress in Artificial Intelligence. EPIA 2009. Lecture Notes in Computer Science(), vol 5816. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04686-5_21
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DOI: https://doi.org/10.1007/978-3-642-04686-5_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04685-8
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