A multi-agent coordination communication paradigm in adversarial periodic team synchronization environment

A communication paradigm is proposed for multi-agent coordination in dynamic, real time and adversarial PTS environment. This paper analyses the issues agent must solve for the purpose of better coordination and presents the design of paradigm. Finally, the application of the paradigm in RoboCup and MiroSot Simulated Soccer Game and the experiments demonstrate that our communication paradigm improved coordination in robots and increased the probability of winning game.