文档介绍：摘要
随着计算机技术的发展,分布式人工智能中多智能体系统(MAS :
Multi-agent System) 的理论及应用研究已经成为人工智能研究的热点。
RoboCup(Robot World Cup),即机器人世界杯足球锦标赛,是一个在实时异
步,有噪声的对抗环境下,研究多智能体的决策和合作的问题。要实现多智能
体间的良好的合作必须克服诸如通讯带宽低,通讯不可靠,干扰因素多,每个
智能体获得的感知信息是不完整的,智能体的执行动作也存在误差等问题。作
为而举行的大型比赛和学术活
动,通过提供一个标准任务来促进分布式人工智能、智能机器人技术、及其相
关领域的研究与发展。
本篇论文详细介绍了计算机仿真足球机器人的设计与实现。首先介绍了
RoboCup 的研究背景,然后介绍了 erServer 的仿真环境。从第三章开始介
绍了具体的足球机器人 Agent 的设计和实现。Agent 的框架部分说明了开发环
境,程序的基本框架。通讯层主要分析智能体获得信息后,怎么处理这些信息,
更新智能体内部维持的世界模型。 Agent 的个人技术部分则侧重阐述了程序设
计中的难点。最后分析了 Agent 的顶层策略,讲述了球队上层结构的设计,提
出了 Agent 的智能化设计。例如基于场上形势的动态站位和角色变换,智能性
的观察和通讯机制。

关键词:
RoboCup,erServer,多智能体系统,分布式人工智能
i
浙江大学本科毕业论文
Abstract
With the development of puter technology, research on the
theory and application of Multi-agent system (MAS) has e a hotspot of
Artificial Intelligence. RoboCup,the Robot World Cup,is a fully distributed,
multi-agent domain with both teammates and adversaries under the
condition of real-time asynchronous and noisy conflict. In order to achieve a
good co-operation between the agents, some problems must be resolved such
as low bandwidth, munication and too much interference. As an
academic initiative of the education and research in such fields, RoboCup
provides a standard project for development of DAI (Distributed Artificial
Intelligence), Robotic, etc.
The paper presents a Design and Implement of the er Simulator
Robot. First, the background of RoboCup and the simulator model of the
erserver are introduced. Then the design and implementation of er
Agent is described. In chapter 3, the main framework of the Agent is
suggested. Simultaneously, how to maintain the world state when the agent
receives sense information from server is analyzed. Finally the top-level
strategy such as Situation Based Dynamic Positioning and Role Exchange,
Intelligent Perception munication is discussed in detail.

Keywords:
RoboCup, erServer, Multi-agent system,Di