Abstract
This paper presents a formal model for a multi-purpose, strategical coordination layer. Based on previous work developed for the RoboCup Soccer simulation, small-size, middle-size, legged leagues and RoboCup Rescue simulation league, a generic coordination model was built that allows the management of collaborative networks of heterogeneous agents. The model uses a multi-level hierarchical approach with the following concepts: strategy, tactics, formations, sub-tactics and roles, from high to low level. Hybrid methods are used to switch formations and tactics. In order to test the model, two strategy instances, for RoboCup Rescue Simulation and RoboCup Soccer, were developed. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of this approach.
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