Implicit coordination in a multi-agent system using a behavior-based approach

The challenge to itttplerrrertt a robot teanr for lrarticipat,ing to a sirnulate<l soccer conrpetitiou has rnotivated us to clevelop a. rnultiagcnt architectrrre where sirigle agents have a set of selected behaviors triggered by arr arbitration rnorlule and use irnplicit corurrutnicatiorr to givc rise to irrrplicit coordination. Every agenb is provided with a set of states, paltlv referrsl to its own acting (lor:al flag) artrl partlv referretl to its tea.m actiug (global flags). The latter cau issue actious suclt tltat, urodifyirrg the ertvirounretrt, itnplicitly irrfonn aboub its irrtent,iorr to be involve<l iuto the actirrg of arrother a,getrt. This is perforrrred siurplv lly ura,kirrg atr agettt to be aware of a pattern thai it canr be easily recognized by looking at the environment. The soccct--teiun perf<rrmarrce can be tuned by triggerirrg the arbitration rnodule of arrv sirrgle agerrt to gerrera.te, as ura.rry as lrossible, suitable sitrratiorrs rvhich hirrt the tearrr the actiotr of scoring a goal.