Fuzzy Logic for Behaviour Co-ordination and Multi-Agent Formation in RoboCup

  • Hakan Duman
  • Huosheng Hu
Conference paper
Part of the Advances in Soft Computing book series (AINSC, volume 9)


Robots participating in a soccer game need to determine the position of the ball, other robots, and the goal positions using real time visual tracking, along with being able to navigate safely, move the ball towards the opponents goal, and co-operate with teammates. Each soccer robot is equipped with basic behaviours such as chasing the ball and shoots it at the goal. Although the single-agent behaviours are very important, the issue of co-operation, or formation, among multiple agents in such a domain is essential. In this paper, we discuss the importance of robot formation in RoboCup and introduce new reactive behaviours and their co-ordination, based on Fuzzy Logic Control, to achieve cooperation among the soccer playing robots.


Fuzzy Logic Mobile Robot Obstacle Avoidance Fuzzy Logic Control Goal Position 
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 2001

Authors and Affiliations

  • Hakan Duman
    • 1
  • Huosheng Hu
    • 1
  1. 1.Department of Computer ScienceUniversity of EssexColchesterUK

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