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The Incremental Development of a Synthetic Multi-Agent System - The UvA Trilearn 2001 Robotic Soccer Simulation Team by Remco de Boer & Jelle Kok (2002).pdf
D.L.
Abstract
This thesis describes the incremental development and main features of a synthetic multi-agent system called UvA Trilearn 2001. UvA Trilearn 2001 is a robotic soccer simulation team that consists of eleven autonomous software agents. It operates in a physical soccer simulation system called soccer server which enables teams of autonomous software agents to play a game of soccer against each other. The soccer server provides a fully distributed and real-time multi-agent environment in which eammates have to cooperate to achieve their common goal of winning the game. The simulation models many real-world complexities such as noise in object movement, noisy sensors and actuators, limited physical abilities and restricted communication. This thesis addresses the various components that make up the UvA Trilearn 2001 robotic soccer simulation team and provides an insight into the way in which these components ave been (incrementally) developed. Our main contributions include a ulti-threaded three-layer agent architecture, a °exible agent-environment synchronization scheme, accurate methods for object localization and elocity estimation using particle ¯lters, a layered skills hierarchy, a coring policy for simulated soccer agents and an e®ective team strategy. Ultimately, the thesis can be regarded as a handbook for the development of a complete robotic soccer simulation team which also contains an introduction to robotic soccer in general as well as a survey of prior research in soccer simulation. As such it provides a solid

thanks to strasno for this book

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