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A reactive autonomous robot soccer system based on a hybrid architecture is proposed. According to the persisting time of the hidden state of the ball's visual information, the planning level reactively selects suitable tasks and behaviors. To deal with the hidden states of the visual information, the behavior level takes reactive behaviors with particular designs. The spontaneous switching among behaviors, planning the sequences of the behaviors implicitly, simplifies the planning of the behaviors and makes the system robust. Experiments and games indicate the effectiveness of the method.