Multi-Agent Robot Swarms: A Review of Sensing and Perceptual Strategies for RoboCup Soccer

This paper examines the perception mechanisms in Multi-Robot Systems (MRS) and their importance in accurately sensing and understanding the surrounding environment. This efficiency in perception enables the system to make better decisions. Firstly, we introduce a comprehensive overview and understanding of cognitive architecture by considering two distinct approaches, centralized and distributed, within the scope of the Robocup soccer robot application. Second, we summarize the challenges and solutions based on these two architectures from 2013 to the present. Finally, we present some experiments of the RCT team, and discuss the emerging trends related to robot perception mechanisms under limited communication and information-sharing conditions.