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Dynamic Role Engine and Formation Control for Cooperating Agents with Robust Decision Making Algorithm
S.Hamidreza Mohades Kasaei, S.Mohammadreza Mohades Kasaei, S. Alireza Mohades Kasaei
Pages - 26 - 41     |    Revised - 30-4-2010     |    Published - 10-06-2010
Volume - 1   Issue - 2    |    Publication Date - July 2010  Table of Contents
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KEYWORDS
Cooperative Multi-agent system, Decision Making, Decision Tree, Role Assignment,, ID3 Algorithm
ABSTRACT
Robocup is an international competition for multi- agent research and related subject like: Artificial intelligence, Image processing, machine learning, robot path planning, control, and obstacle avoidance. In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision-making system of a soccer robot system should have the features of flexibility and real-time adaptation. In this paper we will focus on the Middle Size Soccer Robot league (MSL). In this paper a new hierarchical hybrid fuzzy methods for decision making and action selection of a robot in Middle Size Soccer Robot league (MSL) are presented. First, the behaviors of an agent are introduced, implemented and classified in two layers, the Low_Level_Behaviors and the High_Level_Behaviors. In the second layer, a two phase mechanism for decision making is introduced. In phase one, some useful methods are implemented which check the robots situation for performing required behaviors. In the next phase, the team strategy, team formation, robots role and the robots positioning system are introduced. A fuzzy logical approach is employed to recognize the team strategy and further more to tell the player the best position to move. We believe that a Dynamic role engine is necessary for a successful team. Dynamic role engine and formation control during offensive or defensive play, help us to prevent collision avoidance among own players when attacking the ball and obstacle avoidance of the opponents. At last, we comprised our implemented algorithm in the Robocup2007 and 2008 and results showed the efficiency of the introduced methodology. The results are satisfactory which has already been successfully implemented in ADRO RoboCup team.
CITED BY (3)  
1 Chen, B., Zhang, A., & Cao, L. (2014). Autonomous intelligent decision-making system based on Bayesian SOM neural network for robot soccer. Neurocomputing, 128, 447-458.
2 Zhang, X., & Zhang, J. (2013). Research on the Graduate Career Decision-making Based on Rough Set Theory and Decision Tree Method. Advances in Information Sciences and Service Sciences, 5(4), 96.
3 Mohades Kasaei, S. H., Kasaei, M., & Alireza Kasaei, S. (2012). Design and implementation of a fully autonomous humanoid soccer robot. Industrial Robot: An International Journal, 39(1), 17-26.
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1 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.Mohades Kasaei, M.Taheri, S.A.Monadjemi " MODELING AND IMPLEMENTATION A FULLY AUTONOMOUS SOCCER ROBOT BASED ON OMNI-DIRECTIONAL VISION SYSTEM ", Industrial Robot: an International Journal, Emerald Group Publishing Limited [ISSN 0143-991X] 37/3 279– 286, (2010) [DOI 10.1108/01439911011037686].
2 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.Kasaei, M.Taheri, H.Vahiddastjerdi and M.Rahimi, "Effective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot" In Proceedings of the 17th Iranian Conference on Electrical Engineering , Tehran, Iran, May 12-14, 2009.
3 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.Mohades Kasaei, M.Taheri, M.Rahimi, H.Vahiddastgerdi, M.Saeidinezhad, "Design and Implementation a Fully Autonomous Soccer Player Robot" In proceedings of the World Academy of Science, Engineering and Technology, Volume 39, ISSN: 2070-3740, Hong Kong, China, March 23-25, 2009.
4 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.kasaei, M.Taheri “Design and Development of Novel Solenoid-Based Kicking System”. In Proceedings of the 9th Iranian Conference on Manufacturing Engineering (ICME), Birjand, Iran, March 3-5, 2009
5 Heung-Soo Kim, Hyun-Sik Shim, Myung-Jin Jung, and Jong-Hwan Kim., "Ac-tion Selection Mechanism for Soccer Robot", In proceedings of the IEEE international Symposium on Computational Intelligence in Robotics and Automation, 1997, pp 390-395.
6 Hyun-Sik Shim, Yoon-Gyeoung Sung, Seung-Ho Kim and Jong-Hwan Kim, "Design of Action Level in a Hybrid Control Structure for Vision Based Soccer Robo", In proceeding of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp1406- 1411.
7 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.Mohades Kasaei, M.Taheri " Autonomous navigation systems for Mobile Robots base on Omnidirectional Vision System", In Proceedings of the 12th international Conference on climbing and walking robot and the support technologies for mobile machines 9-11 September 2009, Istanbul, Turkey.
8 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.kasaei, M.Taheri " Improvement performance for Humanoid Soccer robot via Robust Structure Design and Fuzzy Rule- Based Motion Controller", In Proceedings of the International Conference on Mechanical Engineering, Tokyo, Japan, May 27-29, 2009. (ISSN 2070-3740).
9 S.H.Mohades Kasaei, S.M.Mohades Kasaei, M.Taheri, H.Vahiddastjerdi and M.Rahimi, "Design and Development of a Novel Industrial Humanoid Robot", In Proceedings of the 9th Iranian Conference on Manufacturing Engineering (ICME), Birjand, Iran, March 3-5, 2009
10 Roth, M., Vail, D., Veloso, M. “A world model for multi-robot teams with communication”. In Proceedings of the IROS2003, October 27 - 31, 2003, Las Vegas, USA.
11 S.H. Mohades Kasaei, S.M.Mohades Kasaei, S.A.Mohades Kasaei, M.Taheri, “path planning for mobile robots Navigation Applied to Dribbling via artificial Potential Field”, In Proceedings of the 1st Iranian Conference on software development, Khorasgan Azad University (Isfahan).
12 S.H.Mohades Kasaei, S.M.Mohades Kasaei, S.A.Mohades Kasaei , M.Taheri, " Modeling and Implementation of Omni-directional Soccer Robot with Wide Vision Scope Applied in Robocup-MSL ", In Proceedings of the 2nd international Conference on Man-Machine System 2009 , 11-13 October 2009, Penang, Malaysia.
Mr. S.Hamidreza Mohades Kasaei
khorasgan Islamic Azad University - Iran
H.kasaee@khuisf.ac.ir
Mr. S.Mohammadreza Mohades Kasaei
- Iran
Mr. S. Alireza Mohades Kasaei
- Iran