Coordination of Multi-Agent Robotic Systems
Control and coordination of Multi-agent autonomous system play increasing role in robotics. The agents are realized typically by mobile robots each of them is able to carry out specific tasks. Multi-agent robotic system is able to solve efficiently various problems such as finding moving object, rescue problems, target tracking, target assignments, optimal military maneuvers, formation control, traffic control, robotic games (soccer, hockey) and so on. The coordination problem is complex enough to provide general solution directly. In the most cases, the control and coordination are implemented in different levels. In the lecture, we are investigating different approaches on different levels. On the high level, strategies give a global task to the robotic team (e.g attacking in robot soccer). Since it is hard to find and optimal solution in team games, the methods presented are based mainly on heuristics and artificial intelligence approaches (fuzzy systems, value rules, etc), On the middle level, tactics provide solution for the individual robots to reach a global goal. It covers such maneuvers as passing a robot to teammates, to kick the ball to the goal and to occupy some strategic points in the field. On the low level, the robot should be controlled in order to realize the desired behavior (specified by the strategy and the tactics). It consists of finding the appropriate actuating signal (e.g. moving the robot wheels). We also show the main issues and the general ideas related to the efficient coordination of the multi-agent system.