Building of a Heterogeneous Segway Soccer Team Towards a Peer-To-Peer Human Robot Team

Robotic soccer is an adversarial multi-agent research domain, in which issues of perception, multi-agent co-ordination and team strategy are explored. One area of interest investigates heterogeneous teams of humans and robots, where the teammates must coordinate not as master and slave, but as equal participants. We re-search this peer-to-peer question within the domain of Segway soccer, where teams of humans riding Seg-way HTs and robotic Segway RMPs coordinate together in competition against other human-robot teams. Be-yond the task of physically enabling these robots to play soccer, a key issue in the development of such a heterogeneous team is determining the balance be-tween human and robot player. The first ever Seg