Conference article

Layered Reactive Planning in the IALP Team

Antonio Cisternino
Department of Computer Science, University of Pisa, Italy

Maria Simi
Department of Computer Science, University of Pisa, Italy

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Published in: RobocCup-99 Team Descriptions. Simulation League

Linköping Electronic Conference Proceedings 4:11, p. 49-53

Linköping Electronic Articles in Computer and Information Science vol. 4 4:11, p. 49-53

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Published: 1999-12-15


ISSN: 1650-3686 (print), 1650-3740 (online)


The main ideas behind the implementation of the IALP RoboCup team are discussed: an agent architecture made of a hierarchy of behaviors; which can be combined to obtain different roles; a memory model which relies of the absolute positions of objects. The team is programmed using ECL; a Common Lisp implementation. The research goal that we are pursuing with IALP is twofold: (1) we want to show the flexibility and effectiveness of our agent architecture in the RoboCup domain and (2) we want to test ECL in a real time application.


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[1] G. Attardi; The Embeddable Common Lisp; ACM Lisp Pointers; 8(1); 30-41; 1995.

[2] Franklin; S.; \Coordination without Communication"; franklin/ coord.html

[3] Kitano; H.; Asada; M.; Osawa; E.; Noda; I.; Kuniyoshi; Y.; Matsubara; H.; \RoboCup: A Challenge Problem for AI"; AI Magazine; Vol. 18; No. 1; 1997.

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