Tracking behaviours of cooperative robots within multi-agent domains

The most important concerns in multi-agent cooperative systems are focused on the construction of models related with the communication, the interaction and the behavior of agents participating in a task. This chapter deals with behavioral aspects of cooperative agents while they are evolving in a task. Behavioral aspects of cooperative agents may give us precious information about individual, relational and functional roles that the agents assume during the different steps of a task. For instance, in competitive domains, such as robotic soccer, teams of agents dispute common resources to reach a goal. The importance of knowing about behavioral aspects of a team of agents under observation could give us valuable information to generate counter strategies or tactics to obtain the resources being disputed.