%0 Journal Article
	%A Vahid Rostami and  Saeed Ebrahimijam and  P.khajehpoor and  P.Mirzaei and  Mahdi Yousefiazar
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 9, 2007
	%T Cooperative Multi Agent Soccer Robot Team
	%U https://publications.waset.org/pdf/13069
	%V 9
	%X This paper introduces our first efforts of developing a
new team for RoboCup Middle Size Competition. In our robots we
have applied omni directional based mobile system with omnidirectional
vision system and fuzzy control algorithm to navigate
robots. The control architecture of MRL middle-size robots is a three
layered architecture, Planning, Sequencing, and Executing. It also
uses Blackboard system to achieve coordination among agents.
Moreover, the architecture should have minimum dependency on low
level structure and have a uniform protocol to interact with real
robot.
	%P 1371 - 1374