UTTORI United: Cooperative Team Play Based on Communication

In order for multiple robots to accomplish a required mission together, they need to organize themselves, cooperate and share information. We regard such actions as "team play" and believe communication is the essential tool for team plays. This paper discusses communication in the distributed autonomous robotic system and development of cooperative actions for football playing robots. The discussed communication framework and cooperation are implemented in our omni-directional mobile robots which has vision for sensing and a wireless device for communication.