Realization of Formation Strategy in RoboCup

RoboCup simulation match is a standard platform for researching various Multi-Agent System theories,and cooperation is required to accomplish the common goal in this complex multi-agents environment and cooperation can be obtained by sharing formation.Formation is important for agents' cooperative behavior,which enables agents to cooperate in an ordinal and intelligent pattern.For meeting the cooperation requirements under real-time and dynamic environment,this paper regards formation as the research object and proposes two formation strategies separately based on different formations transition and single formation adjustment.Simulation results indicate that with application of these formation strategies,cooperative performance of the whole team can be enhanced.