State machines synchronization for collaborative behaviors applied to centralized robot soccer teams
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2018-11-09
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Abstract
In robot soccer, collaborative behaviors are necessary to establish
team coordination. In centralized architectures with global perception, the team
coordination is carried out by a making decision system, where the team strategy
is programmed out. Finite state machines are an alternative for the making
decision systems design in order to assign players roles and behaviors,
depending on the game conditions. In this paper a team strategy for robot soccer
architectures with global perception and centralized control is proposed, through
the use of synchronized state machines for collaborative behaviors among the
players by using a synchronization function in some determinate states. This
function is used to synchronize one machine state which selects the behavior of
one player, with other state which selects the behavior of another player. The
synchronization is used, for instance, to coordinate a pass between two players
looking for a goal, or blocking an opposite goal by an opposite defender player.
Synchronized state machines presented better results than strategies with state
machines non-synchronized on different matches played.
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