Emergent Team Formation: Applying Division of Labour Principles to Robot Soccer.

Robotic soccer remains an area of active research owing to the difficulties of dynamic team formation and hard real time constraints regarding planning. Much of the existing research relies upon a central agency for coordination. Insect societies distribute work and allocate roles without a need for such a central agency and are robust with respect to changing environments and available agent resources. This paper explores the use of insect-inspired division of labour principles to robot soccer, highlighting the flexibility of the approach and ability to adapt to a wide range of soccer playing strategies. [ABSTRACT FROM AUTHOR]