Cooperative control through objective achievement

Alessandro Farinelli, Hikari Fujii, Nanase Tomoyasu, Masaki Takahashi, Antonio D'Angelo, Enrico Pagello

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Cooperative control is a key issue for multirobot systems in many practical applications. In this paper, we address the problem of coordinating a set of mobile robots in the RoboCup soccer middle-size league. We show how the coordination problem that we face can be cast as a specific coalition formation problem, and we propose a distributed algorithm to efficiently solve it. Our approach is based on the distributed computation of a measure of satisfaction (called Agent Satisfaction) that each agent computes for each task. We detail how each agent computes the Agent Satisfaction by acquiring sensor perceptions through an omnidirectional vision system, extracting aggregated information from the acquired perception, and integrating such information with that communicated by the teammates. We empirically validate our approach in a simulated scenario and within RoboCup competitions. The experiments in the simulated scenario allow us to analyse the behaviour of the algorithm in different situations, while the use of the algorithm in real competitions validates the applicability of our approach to robotic platforms involved in a dynamic and complex scenario.

Original languageEnglish
Pages (from-to)910-920
Number of pages11
JournalRobotics and Autonomous Systems
Issue number7
Publication statusPublished - 2010 Jul 31


  • Coordination
  • Multirobot system
  • RoboCup
  • Task assignment

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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