Team/Goal-Keeper Coordination in the RoboCup Mid-Size League

In this paper we describe the coordination strategies that were designed to achieve effective cooperation between a robot goal-keeper and the rest of the ART (Azzurra Robot Team) team that participates in the RoboCup F-2000 (mid-size) competitions. The paper introduces the multi-robot environment on which cooperation in ART is based and, in particular, its communication sub-system. Some case studies and the results of their application in the ART team are then described.

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