Multi-robot team coordination through roles, positionings and coordinated procedures

The coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup middle-size league (MSL), are presented. The approach, which relies on information sharing and integration within the team, is based on formations, flexible positionings and dynamic role and positioning assignment. Role/positioning assignment follows a new priority-based algorithm that maintains a competitive formation, covering the most important roles/positionings when malfunctions lead to a reduction of the team size. Coordinated procedures for passing and setplays have also been implemented. With this design, CAMBADA reached the 1st place in the RoboCup'2008 world championship. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed.