VIRTUAL ROBOT- ADAPTIVE RESSOURCE-MANAGEMENT IN ROBOT TEAMS

Abstract: In this article, the design of a global control architecture for teams of soccer playing robots is presented. Therefore, the metaphor of a ”virtual robot ” is introduced. This meta-computing based concept of a virtual robot- a collection of a dynamically varying number of robots- is used in order to offer a simple method to share sensor information and processing power efficiently in a team of autonomous walking robots, additionally opening the possibility of ”call-for-action ” requests. Sensor fusion allows for the calculation of a coherent global world model which in turn will be processed locally to get optimal action sequences of the robots in the team. Coordination of the robots is achieved by local schedulers which use the global world model as a basis for action selection