A Functional Architecture for a Team of Fully Autonomous Cooperative Robots

A three-level functional architecture for a team of mobile robots is described in detail, including the deenition of the role assigned to each level, the main concepts involved, and the corresponding implementation for each individual robot. The architecture is oriented towards teams of fully autonomous cooperative robots, able to carry out diierent types of cooperative tasks. Complexity is reduced by the decomposition of team strategies into individual behaviors, which in turn are composed of primitive tasks. Relationships among robots of the team are modeled upon the joint intentions framework. An application to Robotic Soccer and some of its preliminary results are presented.