Computational Intelligence in Robotics and Automation, IEEE International Symposium on (1997)
June 10, 1997 to June 11, 1997
Heung-Soo Kim , KAIST
Hyun-Sik Shim , KAIST
Myung-Jin Jung , KAIST
Jong-Hwan Kim , KAIST
In this paper, an action selection mechanism (ASM) is proposed for each agent given its role in multi-agent system for robot soccer. Robot soccer game has very dynamic and uncertain characteristics. Furthermore, there exist competitions between agents. The soccer-playing robot should take an appropriate action according to its given role such as striker or sweeper. A computational mechanism for such action selection is essential in this regard. Initially, a relatively simple ASM is designed for a situation with no opponents. Then, the mechanism incorporates some additional action selection schemes considering the opponents' behaviors. Particularly, a multilayer perceptron (MLP) is used to learn how human being selects an action given a situation. The effectiveness of the proposed ASM is demonstrated through a real robot soccer game of S-MIROSOT (Single-robot Micro-Robot World Cup Soccer Tournament).
Action Selection Mechanism, Robot Soccer, Neural Network
J. Kim, M. Jung, H. Kim and H. Shim, "Action Selection Mechanism for Soccer Robot," Computational Intelligence in Robotics and Automation, IEEE International Symposium on(CIRA), Monterey, CA, 1997, pp. 390.