A collaborative multi-agent model with knowledge-based communication for the RoboCupRescue simulation

An effective cooperation model in a Multi-Agent system is required to enable agents to interact and achieve their task proficiently. To address this problem, we propose a collaborative hierarchical Multi-Agent model based on two layers (Administrant layer and Autonomous layer), which makes use of the knowledge-based communication to actualize interaction in this model. Task planning and allocation are implemented in the administrant layer by using U-Tree algorithm, where reward function and evaluation value are introduced to control selection factors. Agents are allowed to work together using architectures like swarm and information update value in the autonomous layer, so that centralized and decentralized control can be integrated effectively. Moreover, this collaboration model has been applied successfidly it? CSU Yunlu RoboCupRescue simulation team to show its advantages over other approaches, which will be about to participate in international RoboCupRescue 2006 in June.