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JRM Vol.12 No.1 pp. 29-34
doi: 10.20965/jrm.2000.p0029
(2000)

Paper:

Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents

Gen'ichi Yasuda

Department of Mechanical Engineering, Nagasaki Institute of Applied Science, 536 Aba-machi, Nagasaki 851-0193, Japan

Received:
June 16, 1999
Accepted:
November 29, 1999
Published:
February 20, 2000
Keywords:
robotic soccer, distributed microcontroller implementation, distributed motion control, robot agents
Abstract

We describe the concept and implementation of modular distributed control architecture for cooperative soccer-playing robot agents. Overall complete autonomous control for robotic soccer consists of the host and several onboard control systems. Onboard control for an autonomous mobile robot with intelligent sensors and actuators is constructed on microcontrollerbased flexible, extendable architecture whose microcontrollers are dedicated to low-level control for navigation based on multiaxis and multisensor cooperation. Operations of autonomous actuators are integrated through a serial-bus communication network. Distributed implementation reduces difficulties in complex hardware and software design of the control system. We evaluated basic control executed on microcontrollers. The host conducts high-level decision-making and cooperative action planning for robot agents. The implementation of basic skills and strategies for robotic soccer is discussed.

Cite this article as:
Gen'ichi Yasuda, “Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents,” J. Robot. Mechatron., Vol.12, No.1, pp. 29-34, 2000.
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