Offensive Positioning Based on Maximum Weighted Bipartite Matching and Voronoi Diagram

Abstract

In this paper we propose a modification to the well known Delaunay Triangulation based positioning in the attacking situation positioning of the agents in 2D Soccer Simulation environment. Due to advanced defensive skills such as marking skill, the attacker agents should have a dynamic positioning with respect to the rival team defenders. The proposed method employs the vertices of the Voronoi Diagram of the defending team agents as potential positions for the attacker team agents, since these positions are dynamic and change with the movement of the defending team agents and are always safe positions regarding the distance to the defending team agents, and also have a good coverage of the field. So the attacking agents can increase the chance of receiving pass by the ball owner agent and the scoring chance by taking positions on these vertices. This proposed method then applies Maximum Weighted Bipartite Matching to match these vertices to the attacking agents. This algorithm can be applied by each agent individually, but in order to reduce the possible decision conflicts in this matching which is the result of the limitation in the incoming information of the field from the agents’ sensors, this algorithm can be performed by one agent and then this agent should inform the other attacking team agents of the result by communication skills like “say ability” in 2D Soccer Simulation (SS) environment. This method shows better performance in offensive situation than the conventional Delaunay Triangulation based positioning. It is tested in 2D SS environment as a highly dynamic multi-agent environment but its application is not restricted to the 2D SS League.