Filling the Gap among Coordination, Planning, and Reaction Using a Fuzzy Cognitive Model

Coordination, planning, and reactivity are important for successful teams of autonomous robots, in dynamic adversarial domains. In this paper, we propose a fuzzy cognitive model to integrate coordination, planning and reactive behaviors in a team of cooperating robots. In our architecture, behavioral modules are used as high-level macroactions that compose structured plans defined by a flexible multi-agent coordination system. The use of an unifying cognitive model provides an effective tool for seamless integration of reactive and deliberative components in the robots, gaining as much as possible from the presence of different skills and competencies in the team. The control model is designed to be tuned and adapted on-line so that the team strategies and the role of robots in the control schemata can be automatically modified to face different opponent teams, and changes in robot capabilities.