85 research outputs found
Multi-robot coordination using flexible setplays : applications in RoboCup's simulation and middle-size leagues
Tese de Doutoramento. Engenharia Informática. Faculdade de Engenharia. Universidade do Porto. 201
Applying reinforcement learning in playing Robosoccer using the AIBO
"Robosoccer is a popular test bed for AI programs around the world in which AIBO entertainments robots take part in the middle sized soccer event. These robots need a variety of skills to perform in a semi-real environment like this. The three key challenges are manoeuvrability, image recognition and decision making skills. This research is focussed on the decision making skills ... The work focuses on whether reinforcement learning as a form of semi supervised learning can effectively contribute to the goal keeper's decision making when a shot is taken." -Master of Computing (by research
Multi-Agent Task Allocation for Robot Soccer
This is the published version. Copyright De GruyterThis paper models and analyzes task allocation methodologies for multiagent systems. The evaluation process was implemented as a collection of simulated soccer matches. A soccer-simulation software package was used as the test-bed as it provided the necessary features for implementing and testing the methodologies. The methodologies were tested through competitions with a number of available soccer strategies. Soccer game scores, communication, robustness, fault-tolerance, and replanning capabilities were the parameters used as the evaluation criteria for the mul1i-agent systems
Artificial Vision in the Nao Humanoid Robot
Projecte Final de Mà ster UPC realitzat en col.laboració amb l'Universitat Rovira i Virgili. Departament d'Enginyeria Informà tica i Matemà tiquesRobocup is an international robotic soccer competition held yearly to promote
innovative research and application in robotic intelligence. Nao humanoid robot
is the new RoboCup Standard Platform robot. This platform is the new Nao
robot designed and manufactured by the french company Aldebaran Robotics.
The new robot is an advanced platform for developing new computer vision and
robotics methods. This Master Thesis is oriented to the study of some fundamental
issues for the artificial vision in the Nao humanoid robots. In particular,
color representation models, real-time segmentation techniques, object detection
and visual sonar approaches are the computer vision techniques applied to Nao
robot in this Master Thesis. Also, Nao’s camera model, mathematical robot
kinematic and stereo-vision techniques are studied and developed. This thesis
also studies the integration between kinematic model and robot perception
model to perform RoboCup soccer games and RoboCup technical challenges.
This work is focused in the RoboCup environment but all computer vision and
robotics algorithms can be easily extended to another robotics fields
A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
This paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection of relevant field markers. The detection of field markers provides some estimation of distances for the current robot position. To reduce errors in these distance measurements, extrinsic and intrinsic camera calibration procedures have been developed and described. To validate the localization algorithm, experiments covering many of the typical situations that arise during RoboCup games have been developed: ranging from degradation in position estimation to total loss of position (due to falls, ‘kidnapped robot’, or penalization). The self-localization method developed is based on the classical particle filter algorithm. The main contribution of this work is a new particle selection strategy. Our approach reduces the CPU computing time required for each iteration and so eases the limited resource availability problem that is common in robot platforms such as Nao. The experimental results show the quality of the new algorithm in terms of localization and CPU time consumption.This work has been supported by the Spanish Science and Innovation Ministry (MICINN) under the CICYT project COBAMI: DPI2011-28507-C02-01/02. The responsibility for the content remains with the authors.Munera Sánchez, E.; Muñoz Alcobendas, M.; Blanes Noguera, F.; Benet Gilabert, G.; Simó Ten, JE. (2013). A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League. Sensors. 13(11):14954-14983. https://doi.org/10.3390/s131114954S1495414983131
Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot
Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming
increasingly important as the level of play rises. Competition around the ball is now decided in a
matter of seconds. Therefore, eliminating any wasted actions or motions is crucial when attempting to
kick the ball.
It is common to see a discontinuity between walking and kicking where a robot will return to an
initial pose in preparation for the kick action. In this thesis we explore the removal of this behaviour
by developing a transition gait that morphs the walk directly into the kick back swing pose. The
solution presented here is targeted towards the use of the Aldebaran walk for the Nao robot.
The solution we develop involves the design of a central pattern generator to allow for controlled
steps with realtime accuracy, and a phase locked loop method to synchronise with the Aldebaran walk
so that precise step length control can be activated when required. An open loop trajectory mapping
approach is taken to the walk that is stabilized statically through the use of a phase varying joint
holding torque technique. We also examine the basic princples of open loop walking, focussing on the
commonly overlooked frontal plane motion.
The act of kicking itself is explored both analytically and empirically, and solutions are provided
that are versatile and powerful. Included as an appendix, the broader matter of striker behaviour
(process of goal scoring) is reviewed and we present a velocity control algorithm that is very accurate
and efficient in terms of speed of execution
Systematic mapping literature review of mobile robotics competitions
This paper presents a systematic mapping literature review about the mobile robotics
competitions that took place over the last few decades in order to obtain an overview of the main
objectives, target public, challenges, technologies used and final application area to show how these
competitions have been contributing to education. In the review we found 673 papers from 5 different
databases and at the end of the process, 75 papers were classified to extract all the relevant information
using the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method.
More than 50 mobile robotics competitions were found and it was possible to analyze most of the
competitions in detail in order to answer the research questions, finding the main goals, target public,
challenges, technologies and application area, mainly in education.info:eu-repo/semantics/publishedVersio
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