Behaviour Coordination for Cooperative Multi-Robot Systems

This report introduces a general formulation of relational behaviours for cooperative real robots and an example of its implementation using the pass between soccer robots of the Middle-Sized League of RoboCup. The framework supports explicit teamwork between two team mates. This implies that both participants know from each other that they are committed to the relational behaviour and that they will not quit without informing the other team members first. The formulation is based on the Joint-Commitment Theory by Cohen and Levesque [2]. The implementation of the pass concerns furthermore the development of two primitive behaviours, the intercept and aimAndPass behaviour, and the introduction of heuristics to support coordinated execution. This implementation is supported by past work on soccer robots navigation. Results of experiments with real robots under controlled situations (i.e., not during a game) are presented to illustrate the described concepts. The framework provides an easy way for implementing relational behaviours and takes care of synchronized execution.