Date of Publication


Document Type

Master's Thesis

Degree Name

Master of Science in Electronics and Communications Engineering

Subject Categories

Electrical and Computer Engineering | Other Engineering


Gokongwei College of Engineering


Electronics And Communications Engg

Thesis Adviser

Elmer Jose P. Dadios

Defense Panel Chair

Edwin Sybingco

Defense Panel Member

Edwin J. Calilung
Cesar A. Llorente


Developing social and cooperative behavior for a group of robots poses a big challenge up to this date. With the number of robots in the industrial environment continuously increasing, cooperation and coordination among different robots plays a vital role in completion of a team task. Robot soccer has served as a popular platform for research for multi-robot systems with its highly dynamic environment. This study presents algorithms that produce intelligent and adaptive cooperative strategies for 5-on-5 soccer playing robots. Fuzzy logic was the main tool used in developing the overall system with the aid of heuristics. Different fuzzy systems were developed for intelligent control of the soccer robots as well as producing human-like behaviors like evaluation of team effectiveness and decision making for the high-level and low-level strategies. Experiments were conducted to see the performance of the algorithms in main areas of robot soccer game. The result of the experiments shows that the developed algorithms were able to make the team of soccer robots play effectively exhibiting intelligence, cooperation and a sense of adaptiveness. Fuzzy logic was utilized effectively in this study in portraying human behaviors in playing soccer. Keywords: fuzzy control, fuzzy evaluation system, cooperative behavior, robot soccer.

Abstract Format






Accession Number


Shelf Location

Archives, The Learning Commons, 12F Henry Sy Sr. Hall

Physical Description

iv, 211 leaves ; 28 cm.


Fuzzy logic; Fuzzy systems

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