Solution Pattern for Multi-Robot Coordination exemplified by Humanoid Soccer Game

Robotic soccer teams are multi-robot systems that react autonomously and flexibly to dynamic game environment. They can follow many strategies, some of which are imitation of human soccer teams and require multiple robots to perform collectively. The development of such systems exceeds the concept of conventional mechatronic products. During the early development phase, fundamental design problems reoccurred. In spite of the increasing complexity, multi-robot systems exhibit an analogous basic architecture, especially in the context of multi-robot coordination. This expertise can be externalized in form of solution patterns. Patterns represent reusable expertise for problem-specific solutions in generic mode. In this work, a uniform specification of solution patterns is proposed for the effective coordination of humanoid soccer players based on function-behavior-structure mapping. Key-Words: Solution pattern, multi-robot coordination, humanoid soccer game