Josep Antoni Ramon

MICRO-ROBOTS PLAYING SOCCER GAMES: A REAL IMPLEMENTATION BASED ON A MULTI-AGENT DECISION-MAKING STRUCTURE

ABSTRACTMulti-Agent decision-making structures are expected to be extensively applied in complex industrial systems. Multi-robotic soccer competitions are a forum where rules and constraints are good to develop for MIROSOT, and test them. This paper describes an implementation of such a robotic team consisting of three micro-robots. It shows an agent-based decision-making method that takes into account an index of difficulty to execute collision-free path obtained by a path-planning method specially devised for this domain. Some real situations are used to explain how robots behave, and which are their movements through the playground. Then, some agents persistence problems are analyzed, and simulation results are shown.

RoGi Team Description

This paper describes the main features of the new Rogi Team and some research applied, focused on dynamics of physical agents. It explains the vision system, the control system and the robots, so that the research on dynamical physical agents could be performed. It presents part of the research done in physical agents, especially consensus of properly physical decisions among physical agents, and an example applied to passing.

Outline of Modification Systems

This paper tries to understand the keys necessary for a new approach for automatic control. It starts by analyzing its history and identifying the symptoms that occur once and again when new paradigms, theories or breakthrough inventions came up. Then, it analyses the symptoms of today and discusses whether they match any of the previous symptoms in the past. Then, yet another theory is proposed here, the modification systems, which joins the benefits of Automatic Control and Agents Metaphor: The modification systems, which are designed as a generalization of control systems and situated agents, where anybody does not control a system but modifies a system by some multidimensional change of its original behavior toward a desired target behavior. We show some examples and case studies of their behavior, which as a potential generalization of automatic control give the background to conceive further tools to design more simple but powerful controllers.

Preliminary Studies of Dynamics of Physical Agent Ecosystems

This paper is a step forward from the agent ecosystems that Hogg studied [6]. We plan to extend these agents ecosystems to physical agents that interact with the physical world. The aim is to conceive algorithms for the choice of resources and to expand this work. Dynamics of choice in such ecosystems depends on pay-off functions that contain information about the real physical world. One contribution here is to formalise the choice of knowledge resources by including a consensus technique. The second contribution is to include diversity by means of physical agents and to analyse the emergent impact in terms of diversity and performance. Simulated soccer robots exemplifies all this.

Rogi Team Real: Dynamical Physical Agents

Research in dynamical physical agents, consensus of proper physical decisions among physical agents, and an example of passing is shown. The interest is to introduce introspection of the dynamical behavior of each physical body so that every agent has better knowledge. This has to lead to better passes.

Rogi 2 Team Description

This paper describes the main features of the new Rogi Team and some research applied focused on dynamics of physical agents. It explains the vision system, the control system and the robots, so that the research on dynamical physical agents could be performed. It presents part of the research done in physical agents, especially consensus of properly physical decisions among physical agents, and an example applied to passing.

Description of Rogi-Team

Multi-agent decision-making structures are expected to be extensively applied situations in complex industrial systems (namely distributed systems like energy or material distribution networks, big plants with several stations and difficult processes with huge number of variables). Multi-robotic soccer competitions are a forum where rules and constraints are good to develop, apply, and test those structures. This paper shows new developments under Matlab/Simulink that allow decision-making among agents which, in this case, co-operate to play soccer game.