Paper: RoboCup

Noriaki Mitsunaga, Taku Izumi, and Minoru Asada.
Cooperative behavior based on a subjective map with shared information in a dynamic environment
Advanced Robotics, Vol.19, No.2, pp.207--218, 2005.

Abstract:

This paper proposes a subjective map representation that enables a robot in a multiagent system to make decisions in a dynamic, hostile environment. A typical situation can be found in the Sony four-legged robot league of the RoboCup competition [1]. The subjective map is a map of the environment that each agent maintains regardless of the objective consistency of the representation among the agents. Owing to the map's subjectivity, it is not affected by incorrect information aquired by other agents. The method is compared with conventional methods with or without information sharing.