Implementation of multi-robot systems using the RoboCup Small Size League framework

• Grant number: 15/22131-5
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2016
• End date: May 31, 2017
• Field of knowledge: Interdisciplinary Subjects
• Principal Investigator: Roseli Aparecida Francelin Romero
• Grantee: Nuno Bernardes Barcellos
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

A task frequently addressed by Mobile Robotics researchers is the navigation of multiple robots in unknown environments with many obstacles. A challenge in this subject is using such robots in real scenarios, involving issues such as sensorial noise. In this plan, the purpose is using the framework of the robot soccer category RoboCup Small Size League to test an escorting system of mobile agents based on an area coverage approach, the SLACS. This environment is interesting because it has omnidirectional robots and a computer vision system that provides position and velocity of the objects in the field. The evaluation will be made by comparing the SLACS's performance with the classic method of Potential Fields in this real environment.