Strategy planning for collaborative humanoid soccer robots based on principle solution

Abstract

Collaborative humanoid soccer robots are currently under the lime light in the rapidly advancing research area of multi-robot systems. With new functionalities of software and hardware, they are becoming more versatile, robust and agile in response to the changes in the environment under dynamic conditions. This work focuses on a new approach for strategy planning of humanoid soccer robot teams as in the RoboCup Standard Platform League. The key element of the approach is a holistic system model of the principle solution encompassing various strategies of a soccer robot team. The benefits of the model-based approach are twofold¿it enables intuitive behavioral specification of the humanoid soccer robots in line with the team strategies envisaged by the system developers, and it systematizes the realization of their collaborative behaviors based on the principle solution. The principle solution is modeled with the newly developed specification technique CONSENS for the conceptual design of mechatronic and self-optimizing systems.