DOAS Project

Some more experimental data and conclusions.

Paper draft v.03

After some team feedback, we have the second draft finished.

Paper draft v.02

- Isaac -

GT2004BehaviorControl.zip

- Isaac -

We have written the first paper draft. Some information is still missin, but its a good starting point.

Missing info so far:

• More experiments results and discussion
• Deeper conclusions
• More experimental data
• Complete list of references
• Conclusions about observation of emergen behavior

Paper draft v.01

- Isaac -

experiments

Collaborative behavior is a challenging topic for multiple agents systems. This paper presents the results of two different approaches to overcome “the obstacles of” joint actions: expectation and message driven behavior. A set of experiments has been designed to test the performance of both methods on the behavior of the Robots when collaborating together according to the Sony Four Legged RoboCup Challenge.

- Isaac -

Here is a list of interesting papers with reference or related work.

• Simple Robots in a Complex World: Collaborative Exploration Behavior using Genetic Programming [Keith Ito - Standford University]
• Multi Agent Collaboration Using Distributed Value Functions [Enrique D. Ferreira & Pradeep K. Khosla - Carnegie Mellon Unniversity]
• RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems [Carnegie Mellon University]
• Cooperative Mobile Robotics: Antecedents and Directions [UCLA + NASA]
• Multi-robot Collaboration for Robust Exploration [Annals of Mathematics and Artificial Intelligence]
• Reinforcement Learning for Multi-Agent Coordination in Robot Soccer Domain [Bogazici University]

- Isaac -

The implementation of communication between aibos on the ball possesion is done. The way it works is in three stages

• if an aibo goes for the ball it sends a prepairing kick message
• if it is busy kicking the ball it sends a performing kick message
• when its done kicking it sends a just performed kick message

Also the outgoingTeamBehaviorMessage.message is not reset to none anymore because the aibos can miss the just performed kick message.

Mark

Technical report:

• Introduction
• ‘Passing’ Challenge
• Locating teammate
• Ball handeling
• Localization
• Passing strategy
• Framework
• Implementation
• Experiments
• Conclusion and discussion
• References

Areej

Collaborative behavior is a critic topic for multiple agents systems. This paper presents the results of two different approaches to overcome joint actions: expectation and message driven behavior. A set of experiments has been designed to test the performance of both methods on the behavior of the Robots when collaborating together according to the Sony Four Legged RoboCup Open Challenge.

- Isaac -