MULTI-AGENT DISTRIBUTED AUTONOMOUS SYSTEM

Abstract

The primary objective is to address the field of multi agent cooperative environment, to develop such algorithms to enable machine-machine interaction with no human involvement. The secondary objective is to participate in the RoboCup 2015, to demonstrate our work in this field. Our aim is to compete with different teams from all over the world, who are working in the same area of research. The target is the Standard Platform League (SPL) in RoboCup 2015. In this league all teams use identical (i.e. standard) Aldebaran’s NAO Humanoid Robots. Therefore the teams concentrate only on software development, while still using state-of-the-art robots. The project is divided into different modules which are vision, localization, kinematics, path planning, artificial intelligence and architecture. The vision module is able to identify both static and dynamic elements such as robots, balls and other landmarks in the field in a suitable amount of noise with considerable amount of accuracy. The localization module intelligently localizes the robot’s position inside the field utilizing the landmarks information coming through the vision module. The kinematics module is able to kick the ball in a particular desired direction with variable speed. The artificial intelligence module is able to intelligently assign roles to the particular robot depending on the situation of the soccer field. Also the path planning algorithm is able to find the best possible path solution of making a successful goal kick. The architecture is used to implement an intelligent state machine to carry out the game play. Team-NUST is the only team from South Asia to have qualified to participate in RoboCup SPL 2015 to be held in Hefei, China. This project is able to provide a basic module for the future contributors of Team-NUST and participants of RoboCup and also able to contribute towards the 2050 goal of RoboCup.