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Robot Soccer Strategy Based on Hierarchical Finite State Machine to Centralized Architectures

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Robot Soccer Strategy Based on Hierarchical Finite State Machine to Centralized Architectures

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dc.contributor.author Guarnizo, J. G es_ES
dc.contributor.author Mellado Arteche, Martín es_ES
dc.date.accessioned 2017-05-30T11:43:28Z
dc.date.available 2017-05-30T11:43:28Z
dc.date.issued 2016-08
dc.identifier.issn 1548-0992
dc.identifier.uri http://hdl.handle.net/10251/82026
dc.description © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works es_ES
dc.description.abstract [EN] Coordination among the robots allows a robot soccer team to perform better through coordinated behaviors. This requires that team strategy is designed in line with the conditions of the game. This paper presents the architecture for robot soccer team coordination, involving the dynamic assignment of roles among the players. This strategy is divided into tactics, which are selected by a Hierarchical State Machine. Once a tactic has been selected, it is assigned roles to players, depending on the game conditions. Each role performs defined behaviors selected by the Hierarchical State Machine. To carry out the behaviors, robots are controlled by the lowest level of the Hierarchical State Machine. The architecture proposed is designed for robot soccer teams with a central decision-making body, with global perception. 200 games were performed against a team with constant roles, winning the 92.5% of the games, scoring more goals on average that the opponent, and showing a higher percent of ball possession. Student s t-test shows better matching with measurement uncertainty of the strategy proposed. This architecture allowed an intuitive design of the robot soccer strategy, facilitating the design of the rules for role selection and behaviors performed by the players, depending on the game conditions. Collaborative behaviors and uniformity within the players behaviors during the tactics and behaviors transitions were observed es_ES
dc.description.sponsorship Jose Guillermo Guarnizo ha sido financiado por una beca del Departamento Administrativo de Ciencia, Tecnología e Innovación COLCIENCIAS, Colombia.
dc.language Inglés es_ES
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) es_ES
dc.relation.ispartof IEEE Latin America Transactions es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Robot soccer es_ES
dc.subject Strategy es_ES
dc.subject Multi-robot systems es_ES
dc.subject Architecture es_ES
dc.subject Coordination es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Robot Soccer Strategy Based on Hierarchical Finite State Machine to Centralized Architectures es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1109/TLA.2016.7786338
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escola Tècnica Superior d'Enginyeria Informàtica es_ES
dc.description.bibliographicCitation Guarnizo, JG.; Mellado Arteche, M. (2016). Robot Soccer Strategy Based on Hierarchical Finite State Machine to Centralized Architectures. IEEE Latin America Transactions. 14(8):3586-3596. doi:10.1109/TLA.2016.7786338 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://ieeexplore.ieee.org/document/7786338/ es_ES
dc.description.upvformatpinicio 3586 es_ES
dc.description.upvformatpfin 3596 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 14 es_ES
dc.description.issue 8 es_ES
dc.relation.senia 327605 es_ES
dc.contributor.funder Departamento Administrativo de Ciencia, Tecnología e Innovación, Colombia


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