서지주요정보
로봇축구를 위한 다개체 시스템의 행동선택기 설계 = Action selection mechanism of multi-agent system for robot soccer
서명 / 저자 로봇축구를 위한 다개체 시스템의 행동선택기 설계 = Action selection mechanism of multi-agent system for robot soccer / 김흥수.
저자명 김흥수 ; Kim, Heung-Soo
발행사항 [대전 : 한국과학기술원, 1997].
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소장정보

등록번호

8007746

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 97035

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초록정보

In this thesis, an action selection mechanism(ASM) is proposed for each agent given its role in multi-agent system for robot soccer and implemented in the real robot soccer game. Robot soccer game has very dynamic and uncertain characteristics because the ball and robots move fast and constantly. Furthermore, there exist competitions between agents of one team and hostile agents of the opposite team. It is a basic problem to determine what action the agent should take in the given situation. Particularly, the soccer-playing robot should take an appropriate action according to its role or position such as striker, sweeper and goal-keeper. Some computational mechanism for such action selection is essential in that sense. It is assumed that the role of each agent is given and the number of its available actions is finite. First, a relatively simple ASM is designed for the situation with no opponents. After that, the mechanism incorporates some additional action selection schemes to consider the opponents. The opponents are considered as a kind of disturbances for each agent. The ASM for each agent considers the opponents only when the level of disturbance is over prespecified degree. The proposed ASM consists of Internal Motive, Supervisor, Action Set, Intervention, and Final Selection modules. Particularly, Intervention module is implemented with neural networks. The efficiency and applicability of the proposed ASM is demonstrated under the real robot soccer game.

서지기타정보

서지기타정보
청구기호 {MEE 97035
형태사항 iii, 62 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Heung-Soo Kim
지도교수의 한글표기 : 김종환
지도교수의 영문표기 : Jong-Hwan Kim
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학과,
서지주기 참고문헌 : p. 60-62
주제 로봇축구
다개체 시스템
행동선택기
신경회로망
Robot soccer
Multi-agent system
Action selection mechanism
Neural networks
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