Abstract:
RoboCup Standard Platform League (SPL) is an international robotics soccer competition with an aim to foster research in artificial intelligence and its application in advance robotics. It involves multi-robot cooperation to achieve a common team objective. Hence the need of dynamic task allocation in real time, under a partially known and dynamic environment, arises to achieve a global objective through cooperation or task decomposition. Multi-robot cooperation has gained some attention in the recent past, but to-date only a handful of architectures exist. However, most of the research is ad-hoc and focused on developing proof of concept of available architecture using simulation based techniques, while rarely being employed on actual hardware platforms. This research proposes a robust hybrid architecture for multi-robot cooperation that exploits the advantages of both market based and behavior based architectures, which was employed for RoboCup-SPL 2016 by Team-NUST.
