This page provides information on a dynamic role assignment and
formation positioning system which was an important component in UT
Austin Villa winning the 2011 RoboCup 3D simulation
competition. Results from the competition, including videos of game
action, are linked off the UT Austin Villa homepage. The remainder of
this page focuses only on the positioning system.
For the 2011 RoboCup 3D simulation competition UT Austin Villa used a
dynamic role assignment and formation positioning system in order to
coordinate movement of the team. Each agent is assigned to a role
(position) so as to minimize the longest distance any agent has to
travel. Positions within a set formation are determined based on
predefined offsets from the ball. Calculation of the optimal mapping
of agents to positions is computed efficiently through the use of
dynamic programming. The agents synchronize their choice of
the mapping to follow through the
use of a simple voting system and the simulator's provided
communication channel. Below is a video of the system in action.
Role Assignment and Formation Positioning System
Each position is shown as a color-coded number corresponding to the agent's uniform number assigned to that position. Agents update their role assignments and move to new positions as the ball or an agent is beamed (moved) to a new location.
Download video: mp4