抄録
We developed a soccer robot system based on RoboCup F-180 League in order to research issues about cooperative behavior of mobile robots and multi-agent system which offers efficient, flexible, and fault-tolerant task accomplishment. The system consists of commodity hardware robots, remote-brain servers, a communication server, and a vision server. Agent robots are made of LEGO (R) Mind Storms RCX, which is programmable microcomputer embedded LEGO brick with infrared communication. Servers are Linux PCs connected each other with TCP/IP. Vision server is equipped with frame-grabber connected to a CCD camera above field and process captured images to determine positions of objects on playing field. Communication server with infrared transmitter/receiver provides collision-less communication for remote-brains and robots.
