英文资料及中文翻译Developmentofamulti-agentsystemforrobotsoccergame一、IntroductionAsmodernindustrialsocietyprogresses,theneedsforusefulrobotsaregrowing.Especially,mobilerobotsarespecialissuethatgraduallyexpandsitsrealminindustrialandstudyingtopics.Researchesonmobilerobotshavebeenmainlyconcentratedonsinglemobilerobot.But,thedevelopmentofmulti-agentsystemisstronglyneededbythegrowthofcomplexityoftasksforrobotstoperform.Themulti-agentsystemshavebeenstudiedbymanyresearchers[l-3].Generally,multi-agentsystemisdefinedasthesystemcomposedofmorethan2robots[4]andperformsthegiventaskbycooperation.Thesystemhassomedifferentfactorscomparedwithsinglerobotsystem.First,theenvironmentforrobotstoconfrontisdynamic.Inmulti-agentsystem,therobotsthemselvesconstitutedynamicenvironment,becauseeachrobotshouldrecognizetheotherrobotsasmovingobstacles.Manypreviousresearchesonmobilerobotsassumethattheenvironmentisstatic,evenfortheresearchesonsinglemobilerobot[5,6].Second,sincethesystemperformsgiventaskbycooperation,itisnecessarytomakeoverallsystemplanforrolesofrobots.Oneoftheobviouscharacteristicsofthemulti-agentsystemiscooperation-forexample,4-5robotscarryfurniture[7].Tocooperateoneanother,thechangesofrobotspositionmustbepredictable.Therearesomewaystoknowtherobotsposition.Forexample,robotscommunicatetheirpositiononeafteranother,orasupervisordetectsrobots'positionandtransmitsthemtorobots.Itisrelatedtocommunicationproblem.Third,eachcomponentofthesystemsuchasrobots,asupervisor,sensors,communicationequipmentiswelldeveloped,becausetheyinfluencetheoverallsystemperformance.Also,itisnecessarytoadoptappropriatearchitecture.Robotsoccerisaninterestingdomainforstudyingthemulti-agentsystem.Theplayersmustworktogether:Itmeansasortofcooperation.Also,theyplaythegameindynamicenvironment:predictableandunpredictableenvironment-ourrobotsandopponent'srobots,respectively.Themainobjectistoputtheballinopponent'sgoalasfrequentlyaspossibleinpresenceofopponent'srobotswhichhavethesametask.So,accordingtoasituation,ourrobotsdecidew