Multi-Robot Cooperative Defense Strategy in RoboCup Standard Platform League

RoboCup is a multi-robot collaborative soccer competition platform. A recognized problem in applying artificial intelligence technology is accomplishing complex tasks of multi-robot cooperation in the match according to changing environmental conditions. The core part of the decision-making system determines whether a robot team can cooperate reasonably. This paper optimizes the finite state machine decision-making system based on the B-human framework by perfecting the decision tree system, subdivision site zoning, improving the communication within the team, and designing keyframe actions. Team formations, robot roles, and execution actions change dynamically depending on different competitive states in this system. This decision system works well in SimRobot simulations, showing the strategic advantages of real-time, distributed features of multi-robot collaboration in real competitions.