Distributed, Play-Based Coordination for Robot Teams in Dynamic Environments

We present refinements to our previous work on team communication and multi-robot world modeling in the RoboCup legged league. These refinements put high priority on the communication of task-relevant data. We also build upon past results within the simulation and the small-size leagues and contribute a distributed, play-based role assignment algorithm. This algorithm allows the robots to autonomously adapt their strategy based on the current state of the environment, the game, and the behavior of opponents. The improvements discussed in this paper were used by CMDash in the RoboCup 2005 international competition.