Distributed Architecture for Dynamic Role Behaviour in Humanoid Soccer Robots

Non

Development of personal area network (PAN) for mobile robot using bluetooth transceiver

The work presents the concept of providing a Personal Area Network (PAN) for microcontroller based mobile robots using Bluetooth transceiver. With the concept of replacing cable, low cost, low power consumption and communication range between 10m to 100m, Bluetooth is suitable for communication between mobile robots since most mobile robots are powered by batteries and have high mobility. The network aimed to support real-time control of up to two mobile robots from a master mobile robot through communication using Bluetooth transceiver. If a fast network radio link is implemented, a whole new world of possibilities is opened in the research of robotics control and Artificial Intelligence (AI) research works, sending real time image and information. Robots could communicate through obstacles or even through walls. Bluetooth Ad Hoc topology provides a simple communication between devices in close by forming PAN. A system contained of both hardware and software is designed to enable the robots to form a PAN and communicating, sharing information. Three microcontroller based mobile robots are built for this research work. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. The PAN enabled a few mobile robots to communicate with each other to complete a given task. The wireless communication between mobile robots is reliable based from the result of experiments carried out. Thus this is a platform for multi mobile robots system and Ad Hoc networking system. Results from experiments show that microcontroller based mobile robots can easily form a Bluetooth PAN and communicate with each other

High level coordination and decision making of a simulated robotic soccer team

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 201

Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved

Strategy planning for collaborative humanoid soccer robots based on principle solution

The final publication is available at Springer via http://dx.doi.org/10.1007/s11740-012-0416-4[EN] Collaborative humanoid soccer robots are currently under the lime light in the rapidly advancing research area of multi-robot systems. With new functionalities of software and hardware, they are becoming more versatile, robust and agile in response to the changes in the environment under dynamic conditions. This work focuses on a new approach for strategy planning of humanoid soccer robot teams as in the RoboCup Standard Platform League. The key element of the approach is a holistic system model of the principle solution encompassing various strategies of a soccer robot team. The benefits of the model-based approach are twofold¿it enables intuitive behavioral specification of the humanoid soccer robots in line with the team strategies envisaged by the system developers, and it systematizes the realization of their collaborative behaviors based on the principle solution. The principle solution is modeled with the newly developed specification technique CONSENS for the conceptual design of mechatronic and self-optimizing systems.The specification technique CONSENS was developed in the course of the Collaborative Research Center 614 ‘‘Self-Optimizing Concepts and Structures in Mechanical Engineering’’ funded by the German Research Foundation (DFG) under grant number SFB 614. The first two authors are funded by the Ministry of Higher Education Malaysia under the grant number 600-RMI/ST/ FRGS 5/3/Fst (256/2010) and 600-RMI/ERGS 5/3 (23/2011).Low, CY.; Aziz, N.; Aldemir, M.; Dumitrescu, R.; Anacker, H.; Mellado Arteche, M. (2013). Strategy planning for collaborative humanoid soccer robots based on principle solution. Production Engineering. 7(1):23-34. https://doi.org/10.1007/s11740-012-0416-4S233471Asada M, Kitano H (1999) The RoboCup challenge. Rob Auton Syst 29:3–12Spaan MTJ, Groen FCA (2002) Team coordination through roles, positioning and coordinated procedures. RoboCupLau N, Lopes LS, Corrente G, Nelson F (2009) Multi-robot team coordination through roles, positionings and coordinated procedures. In: 2009 IEEE/RSJ international conference on intelligent robots and systems, October 11–15, St. Louis, USAIocchi L, Nardi D, Piaggo M, Sgorbissa A (2003) Distributed coordination in heterogeneous multi-robot systems. Auton Robots 15:155–168Almeida F, Lau N, Reis LP (2010) A survey on coordination methodologies for simulated robotic soccer teams, multi-agent logics, languages, and organisations federated workshops (MALLOW 2010). Lyon, FranceLückel J, Hestermeyer T, Liu-Henke X (2001) Generalization of the Cascade principle in view of structured form of mechatronic systems. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2001), Villa Olmo, Como, ItalyInternational Council on Systems Engineering (INCOSE) (2007) Systems engineering vision 2020. Incose-TP-2004-004-02, SeptemberGausemeier J, Frank U, Donoth J, Kahl S (2009) Specification technique for the description of self-optimizing mechatronic systems. Res Eng Des 20(4):201–223Cyberbotics Ltd., Webots overview. 20 September 2012 at http://www.cyberbotics.com/overviewBirkhofer H (1980) Analyse und Synthese der FunktionenTechnischerProdukte. Dissertation, TechnischeUniversitätBraunschweigLanglotz G (2000) Ein Beitrag zur Funktionsstrukturentwicklung Innovativer Produkte. Dissertation, Institut fuerr Rechneranwendung in Planung und Konstruktion, Universitaet Karlsruhe, Shaker-Verlag, Band 2/2000, AachenPostel J (1980) User Datagram Protocol. RFC 760, USC/Information Sciences Institut

RoboCup Soccer Leagues

RoboCup was created in 1996 by a group of Japanese, American, and European Artificial Intelligence and Robotics researchers with a formidable, visionary long-term challenge: “By 2050 a team of robot soccer players will beat the human World Cup champion team.” At that time, in the mid 90s, when there were very few effective mobile robots and the Honda P2 humanoid robot was presented to a stunning public for the first time also in 1996, the RoboCup challenge, set as an adversarial game between teams of autonomous robots, was fascinating and exciting. RoboCup enthusiastically and concretely introduced three robot soccer leagues, namely “Simulation,” “Small-Size,” and “Middle-Size,” as we explain below, and organized its first competitions at IJCAI’97 in Nagoya with a surprising number of 100 participants [RC97]. It was the beginning of what became a continously growing research community. RoboCup established itself as a structured organization (the RoboCup Federation www.RoboCup.org). RoboCup fosters annual competition events, where the scientific challenges faced by the researchers are addressed in a setting that is attractive also to the general public. and the RoboCup events are the ones most popular and attended in the research fields of AI and Robotics.RoboCup further includes a technical symposium with contributions relevant to the RoboCup competitions and beyond to the general AI and robotics

Coordination methodologies applied to RoboCup : a graphical definition of setplays

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 200