| Abstract: | Robotic soccer presents a large spectrum of challenging research opportunities. In this article, we present the main research and technical contributions of our champion CMUnited-98 small-robot team. The team is a multiagent robotic system with global perception, and distributed cognition and action. We introduce our new robot motion algorithm that reactively generates motion control to account for the target point, the desired robot orientation and obstacle avoidance. Our robots exhibit successful collision-free motion in the highly dynamic robotic soccer environment. At the strategic and decision-making level, we present the role-based behaviors of the CMUnited-98 robotic agents. Team collaboration is remarkably achieved through a new algorithm that allows for team agents to anticipate possible collaboration opportunities. Robots position themselves strategically in open positions that increase passing opportunities. The article terminates with a summary of the results of the RoboCup-98 games in which the CMUnited-98 small-robot team scored a total of 25 goals and suffered 6 goals in the five games that it played. |
