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A Comprehensive Framework for Perception in Robotic Soccer InTech
Luciano Oliveira; Augusto Loureiro; Leizer Schnitiman.
A framework for perception in robotics soccer has been presented. The proposed framework has shown been effective in recognize coloured objects in the soccer field but it might be slightly changed to be used in different approaches, through a new set of training samples and fuzzy rules. A TS fuzzy engine has been used to integrate information from different sensors, particularly, an IR distance sensor and a camera. To integrate these sensor data, a novel calibration method, based on a regression SVM, was developed and it has shown a robust mapping between the calibration map and the obtained values in camera space, with a low average error of 1.88 degrees. Also, the vision system was evaluated, and the new scheme, with an addition of a cascade of boost...
Tipo: 12 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_comprehensive_framework_for_perception_in_robotic_soccer
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A Robust and Scalable Pareto Optimal Ball Passing Algorithm for the Robotic Soccer InTech
Vadim Kyrylov.
Tipo: 8 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_robust_and_scalable_pareto_optimal_ball_passing_algorithm_for_the_robotic_soccer
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Analysing the Difficulty of Learning Goal-Scoring Behaviour for Robot Soccer InTech
Jeff Riley; Vic Ciesielski.
This work has presented a method for the analysis of the fitness landscape described by the problem of learning goal-scoring behaviour using a genetic algorithm. The method described uses landscape measures to examine features of the fitness landscape such as the degree of correlation between, or randomness of, points on the landscape, the modality of the landscape, and the ruggedness of the landscape. These landscape features are used to better understand the reasons for the difficulty of the problem, especially for evolutionary algorithms. The autocorrelation and information content measures are indicative of the ease with which the searcher will be able to identify the most productive areas of the landscape and in which direction (on the landscape) the...
Tipo: 16 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/analysing_the_difficulty_of_learning_goal-scoring_behaviour_for_robot_soccer
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Behavior Acquisition in RoboCup Middle Size League Domain InTech
Yasutake Takahashi; Minoru Asada.
This chapter briefly overviewed research activities, especially on behavior acquisition/ emergence based on machine learning techniques, in RoboCup middle size league. This research area has kept attracting people and been investigated not only in middle size league but also other ones such as simulation soccer and 4-legged leagues. Many results of applications of machine learning techniques to robots in the RoboCup domain show promising contributions to generate adaptive behaviors in real situations. On the other hand, many difficulties in practical use have also been unveiled so far. For example, selection of important features for purposeful behaviors, purposive behavior discovery through observation of others, self task decomposition and integration,...
Tipo: 21 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/behavior_acquisition_in_robocup_middle_size_league_domain
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Collaborative Localization and Gait Optimization of SharPKUngfu Team InTech
Qining Wang; Chunxia Rong; Guangming Xie; Long Wang.
We have made improvement in localization, locomotion and behavior modules. In RoboCup 2006, we perform our technical improvement in open challenge, passing ball and new goal challenge. After RoboCup 2006, we participated in RoboCup China Open 2006. Advantages in sharPKUngfu 2006 help our team make great success in this event. We got champions both in soccer competition and technical challenge. After the event, we focus our research on further study in collaborative localization, navigation and gaits optimization. All the improvement is explained above in detail. We have applied experience-based collaborative approach for localization which is important to make robots more rational and efficient. In gaits optimization, we implemented PSO based approach to...
Tipo: 28 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/collaborative_localization_and_gait_optimization_of_sharpkungfu_team
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Color Classification and Object Recognition for Robot Soccer Under Variable Illumination InTech
Nathan Lovell; Vladimir Estivill-Castro.
We have discussed an approach to object recognition inspired on the vision analysis pipeline. However, the linear organization of the pipeline is a model that propagates the decision of each filter, and therefore, it propagates mistakes. It is natural that after one pass over the pipeline, feedback from the result to one or several of the filters would improve the overall result. For example, finding a large circular orange ball may facilitate finding yellow goals and red AIBOs in the image since now we have information of where the ball is. Also, we have illustrated that not every pixel in the image most be processed by the entire pipeline and thus we can avoid processing some regions of the image. These remarks suggest two avenues for expanding our work....
Tipo: 4 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/color_classification_and_object_recognition_for_robot_soccer_under_variable_illumination
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Communication and Collaboration in Heterogeneous Teams of Soccer Robots InTech
Philipp A. Baer; Roland Reichle.
Because of the lack of standard software, which prompts every RoboCup team to develop its own software framework, heterogeneity issues play a decisive role. They cause several problems when establishing a mixed-team of soccer robots involving different hardware and software platforms. In order to cope with theses issues, we presented SPICA, a development environment for communication and collaboration infrastructures for heterogeneous teams of soccer robots. In SPICA, we have adopted a model-driven development approach which is naturally very appropriate to cope with heterogeneity. One of its basic paradigms is the platformindependent specification of software allowing automatic generation of source code for different platforms. Accordingly, SPICA provides...
Tipo: 1 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/communication_and_collaboration_in_heterogeneous_teams_of_soccer_robots
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Comprehensive Omni-Directional Soccer Player Robots InTech
Mehdi DaneshPanah; Amir Abdollahi; Hossein Ostadi; Hooman Aghaebrahimi Samani.
1. In this study, we propose PID and PD controllers for position and orientation controls respectively. Then, the controller parameters were estimated using a simplified model by taking into account the effect of noise. By using these parameters in the real robot, it was shown that the strategy was appropriate for an omni directional robot. Self-localization method utilized in this study used a combination of the odometry system (using a shaft encoder) and vision-based localization. Using the geometrical properties of circles, we managed to calculate the exact position of the robot in the field. Next, a sensitivity analysis was carried out to determine the inaccurate points in the field. For those regions, we used the flags as our landmarks in the corners...
Tipo: 18 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/comprehensive_omni-directional_soccer_player_robots
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Desktop Robot Soccer InTech
Frederic Maire; Joaquin Sitte; Narongdech Keeratipranon.
As discussed above the KheperaSot in its current form poses challenges in motion control, navigation and self-localisation, as well as in higher level autonomous behaviour design and implementation. The reason why we support and encourage the KheperaSot league is the complete autonomy of the robot combined with its small size. The autonomy enhances the educational value of the tournament by putting it on par with prospective autonomous mobile robot applications that have to rely entirely on their own sensors to acquire information of the world around them. The autonomous nature of the KheperaSot league also provides a natural evolutionary pathway for the game, allowing it to maintain challenges as the technology and the experience of the players advance....
Tipo: 10 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/desktop_robot_soccer
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Embedded Behavioral Control of Four-legged Robots InTech
David Herrero Perez; Humberto Martinez Barbera.
This work has presented the architecture and behavioral programming model used to develop a team of the Sony Four-Legged League, which is one of the official leagues of the RoboCup. This league is a very demanding scenario, with high uncertainty in perceptions and limited processing power. In addition, having a competition implies that some dates the software development and tuning presents high activity peaks. These facts condition the way robots have to be programmed. Thus, our main goal has been improving productivity as much as possible while being able to correctly develop all the required behaviors. The approach consists on adopting a programming architecture that reflects a cognitive separation of modules and allows for an efficient management of...
Tipo: 11 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/embedded_behavioral_control_of_four-legged_robots
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Event-driven Hybrid Classifier Systems and Online Learning for Soccer Game Strategies InTech
Yuji Sato.
In this section we have reported on the results of applying a classifier system to the acquisition of decision-making algorithms by agents in a soccer game. First, we introduced the hybrid system configurations of the existing algorithms and a classifier system. Then, in order to implement real-time learning while a game is in progress, we introduced a bucket brigade algorithm that implements reinforcement learning for the classifier, and a technique for selecting the subject of learning depending on the frequency of events. And finally, we introduced a method for performing learning by awarding players different reward values during reinforcement learning depending on whether they are assigned the role of forward, midfielder or defender. We played this...
Tipo: 19 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/event-driven_hybrid_classifier_systems_and_online_learning_for_soccer_game_strategies
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FC Portugal - High-Level Coordination Methodologies in Soccer Robotics InTech
Nuno Lau; Luis Paulo Reis.
FC Portugal research on coordination methodologies enabled the definition a model for the strategy of team for a particular soccer game. This model is then implemented over SBSP and DPRE, enabling the team to perform in a very efficient way, as shown by our controlled experiments and competition results, and also in a real-soccer like manner. The development tools that enabled the tuning of the cooperative team behaviour and individual decision and individual skills mechanisms have been presented. These tools are based on general principles that can be of applied to the development of several types of agent in different domains.
Tipo: 9 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/fc_portugal_-_high-level_coordination_methodologies_in_soccer_robotics
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Impossibles: A Fully Autonomous Four-Legged Robot Soccer Team InTech
Hamid Reza Vaezi Joze; Jafar Habibi; Nima Asadi.
In this chapter we presented the Impossibles main architecture and its modules to create a fully autonomous team of 4-legged robots for playing soccer. This architecture includes different modules such as World Model, Vision, Decision Making, Motion Controller, Communication, and Localization which are all independent of the robot platform. This chapter presented the integration of our researches in different fields which came together to create fully autonomous robots for specific purpose that is playing soccer as humans do. And this could be a primitive attempt to developing intelligent robots. Participated in two years of RoboCup competitions in Bremen and Atlanta in RoboCup 2006 and 2007, the team gained some valuable experiences which led to designs...
Tipo: 25 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/impossibles__a_fully_autonomous_four-legged_robot_soccer_team
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Integrating Autonomous Behaviour and Team Coordination into an Embedded Architecture InTech
Bernd Kleinjohann; Lisa Kleinjohann; Willi Richert; Claudius Stern.
1
Tipo: 14 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/integrating_autonomous_behaviour_and_team_coordination_into_an_embedded_architecture
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Learning to Play Soccer with the SimpleSoccer Robot Soccer Simulator InTech
Jeff Riley.
The goal of this work was to create an environment with similar complexity and dynamics to the RoboCupSoccer environment, but with reduced uncertainty, both in player perception and in the player's interaction with the environment. The motivation was to create an environment in which the training times of machine learning techniques would be reduced sufficiently so as to improve the viability of such techniques, and to show that players could be trained in this environment to display reasonable goal-scoring behaviour. The SimpleSoccer environment was developed for this purpose, and through some sample experiments it was shown that the SimpleSoccer environment does aid in the reduction of training times for some machine learning techniques. The...
Tipo: 15 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/learning_to_play_soccer_with_the_simplesoccer_robot_soccer_simulator
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Motion Detection and Object Tracking for an AIBO Robot Soccer Player InTech
Javier Ruiz-del-Solar; Paul A. Vallejos.
In this work we proposed an approach for motion detection and object tracking with a moving camera, with application to robot soccer. In the proposed system, the camera movements are compensated in software by aligning the current frame and the background. Results of the motion detection and tracking of objects in real-world video sequences using
Tipo: 17 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/motion_detection_and_object_tracking_for_an_aibo_robot_soccer_player
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Multicriterial Decision-Making Control of the Robot Soccer Team InTech
Petr Tucnik.
Tipo: 22 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/multicriterial_decision-making_control_of_the_robot_soccer_team
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Non-Monotonic Reasoning on Board a Sony AIBO InTech
David Billington; Vladimir Estivill-Castro; Rene Hexel; Andrew Rock.
One of the most satisfying aspects of our implementation is that it has proven efficient enough to be running on board a Sony AIBO while in competition in the soccer 4-legged league or in RoboCup@Home. Table 1 shows the CPU-timings on board an ERS-7 running our C++ implementation with three different models and two situations. It may be surprising that while the robot was in the playing state, chasing the ball and executing kicks, the execution is faster than while standing as a goalie. However, the standing situations have usually on average 2 landmarks per frame. But while playing, frames with 2 objects in sight are less frequent. In all cases, the inference engine is executed six times per frame, to verify if each of the landmarks is consistent. Model...
Tipo: 3 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/non-monotonic_reasoning_on_board_a_sony_aibo
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Positioning in Robots Soccer InTech
Hesam T. Dashti; Shahin Kamali; Nima Aghaeepour.
Tipo: 2 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/positioning_in_robots_soccer
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Probabilistic and Statistical Layered Approach for High-Level Decision Making in Soccer Simulation Robotics InTech
Carlos Bustamante; Leonardo Garrido.
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Tipo: 6 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/probabilistic_and_statistical_layered_approach_for_high-level_decision_making_in_soccer_simulation_r
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