Roboskeleton: An architecture for coordinating robot soccer agents

This is the author’s version of a work that was accepted for publication in Engineering Applications of Artificial Intelligence. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Engineering Applications of Artificial Intelligence,19, 2 (2006) DOI: 10.1016/j.engappai.2005.07.002SkeletonAgent is an agent framework whose main feature is to integrate different artificial intelligent skills, like planning or learning, to obtain new behaviours in a multi agent environment. This framework has been previously instantiated in a deliberative domain (electronic tourism), where planning was used to integrate Web information in a tourist plan. RoboSkeleton results from the instantiation of the same framework, SkeletonAgent, in a very different domain, the robot soccer. This paper shows how this architecture is used to obtain collaborative behaviours in a reactive domain. The paper describes how the different modules of the architecture for the robot soccer agents are designed, directly showing the flexibility of our framewor