用行为树提升机器人团队协作，让足球赛中三机配合更灵活高效。
Coordinating Task Switching in a Robotics Multi-Agent System Using Behavior Trees
- 用行为树替代有限状态机，实现机器人任务切换的模块化控制。
- 在模拟和真实比赛中表现更优，任务切换更平滑且响应更快。
- 适合需要动态协作的多机器人系统研究者参考。
多机器人系统在机器人领域的应用极具挑战性。为此，一些以游戏为场景的竞赛被提出，以促进策略与机制的研究与发展。本文以IEEE极小型足球（VSSS）比赛为案例，描述了圣保罗大学ThundeRatz机器人团队在该赛事中采用的行为树方法。在该比赛中，每队由三台机器人组成，在高度动态的足球环境中竞争，因此机器人行为的协调至关重要。本文提出一种基于行为树的多机器人协作方法，并通过FIRASim仿真器与此前基于有限状态机（FSM）的方法进行对比。此外，该新策略还在一项学术机器人竞赛中进行了性能验证，结果表明其在任务切换与系统稳定性方面表现更佳。
原文摘要 · Abstract (English)
The application of multi-agent systems in robotics is a very challenging field. Several competitions involving such systems are proposed to foster research and development of strategies and mechanisms using games as the underlying domain. Among them are the ones from the \textit{IEEE Very Small Soccer (VSSS)} category, which is the case study described in this paper. In VSSS, two teams of three robots each compete in a very dynamic environment of a soccer game. Thus, coordination of robots' behavior during the game is crucial to win it. In this paper, we present a Behavior-Tree-based approach to support multi-robot coordination within the VSSS team of the ThundeRatz robotics team from the Universidade de S$\tilde{a}$o Paulo. Moreover, a comparison between the proposed approach and the previous one, which was based on a Finite State Machine (FSM), was conducted using the FIRASim simulator. Besides that, the performance of this new strategy was further evaluated in an academic robotics competition.
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