Coordination in multi-agent RoboCup teams

In this paper, we focus on various aspects of coordination in the framework of the RoboCup competitions. In particular, we address both multi-agent systems that have been developed within the simulation league and multi-robot systems that have been realized in the middle-size league. From the multi-agent perspective we present a behavior-based technique for position selection and the so-called holonic approach. In the multi-robot domain, we address both communication and distributed coordination within a heterogeneous team of autonomous robots. © 2001 Elsevier Science B.V.