Using Multiagent Coordination Techniques in the RoboCup Four-legged League

We participate in the RoboCup four-legged league, and view this as a testbed for the use of multiagent coordination techniques. While the techniques we currently use are rather straightforward, our longterm goal is to adopt some of the more complex mechanisms we have been developing in other research. This paper describes these mechanisms, our work with RoboCup to date, and sketches the direction we see our research taking