A Control Agent Architecture for Cooperative Robotic Tasks.

This chapter is organized in three parts described as follows. In the first part, some of the most relevant previous works about control architectures in multi-robot systems is presented; on one hand, the idea is to show how different approaches consider and combine the aspects involved in the design of multi-robot systems, and on the other hand, to show their application to specific problems. The next part, which includes several sections, explains our approach of control architecture MRCC for intentional robotics cooperation, the micro-social level is analyzed in detail; it also introduces the principal considerations of the validation of the approach in the context of robotic soccer. The chapter ends with the presentation of some results focused in the cooperative action mechanism and a final discussion.