Dynamic Positioning Based on Voronoi Cells (DPVC)

DOI: 10.1007/11780519_20 In book: RoboCup 2005: Robot Soccer World Cup IX, pp.219-229


In this paper we are proposing an approach for flexible positioning of players in Soccer Simulation in a Multi-Agent environment.
We introduce Dynamic Positioning based on Voronoi Cells (DPVC) as a new method for players’ positioning which uses Voronoi Diagram for distributing agents in the field. This method also uses Attraction Vectors that indicate agents’ tendency to specific objects in the field with regard to the game situation and players’ roles. Finally
DPVC is compared with SBSP as the conventional method of positioning.

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