Analysis of multi-robot cooperation using Voronoi diagrams

Achieving cooperation in a team of autonomous agents is a complex task. To achieve success requires each agent to have a well grounded understanding of the task and how to achieve the objectives. As a basis for designing new multi-agent control architectures, we introduce the notion of spatial representation in a group of autonomous football playing robots. Using Voronoi diagrams to examine data from simulated football matches, we identify a correlation between our spatial structures, and the events during match.