Cooperative control method for autonomous mobile robots using self and group evaluation

Hikari Fujii, Masayuki Kato, Masaki Takahashi

Research output: Contribution to journalArticlepeer-review


This paper presents a cooperative control method for a multi-agent robot system. The concept of the method is based on evaluation information on an objective of multi-agent system. Robots communicate self-evaluation information on the objective each other. Each robot calculates global evaluation information using shared self-evaluation information of whole robot. The method enables robots to perform flexible cooperation in dynamic environment. Its usefulness is verified by applying the method to the soccer playing robots for the middle size league of RoboCup. It was confirmed that the effective and flexible cooperative behavior among the heterogeneous soccer robots are realized with proposed method.

Original languageEnglish
Pages (from-to)1743-1752
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number767
Publication statusPublished - 2010 Jul


  • Autonomous mobile robot
  • Cooperative control
  • Coordination
  • Multi-Agent
  • RoboCup

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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