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We describe the concept and implementation of modular distributed control architecture for cooperative soccer-playing robot agents. Overall complete autonomous control for robotic soccer consists of the host and several onboard control systems. Onboard control for an autonomous mobile robot with intelligent sensors and actuators is constructed on microcontrollerbased flexible, extendable architecture whose microcontrollers are dedicated to low-level control for navigation based on multiaxis and multisensor cooperation. Operations of autonomous actuators are integrated through a serial-bus communication network. Distributed implementation reduces difficulties in complex hardware and software design of the control system. We evaluated basic control executed on microcontrollers. The host conducts high-level decision-making and cooperative action planning for robot agents. The implementation of basic skills and strategies for robotic soccer is discussed.

Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents