6 research outputs found
Localization issues in the design of a humanoid goalkeeper for the RoboCup SPL
This article exposes the localization issues faced
during the implementation of a humanoid goalkeeper to
take part in the RoboCup SPL standardized soccer robot
competition.
For this task, we have used BICA, a state-driven,
component-based architecture created by our counterparts
in the URJC, to allow a much easier behavior design process.
The use of BICA let us choose different self-localization
methods in configuration time, and the possibility of using
none in running time if some type of error appear
Designing a minimal reactive goalie for the RoboCup SPL
This paper presents the basic design and implementation
of a goalkeeper made according to the regulations
of the two-legged Standard Platform League of the RoboCup
Federation. The paper describes the perceptive schemas created
using the architecture of the TeamChaos-URJC team as well as
the action schemes designed to create a minimal reactive goalie.
This player was tested in the 2009 German Open international
competition. The results obtained there are analyzed and the
future works derived from that analysis are presente
Design an evaluation of RoboCup humanoid goalie
P. 19-26In this article we describe the ethological inspired
architecture we have developed and how it has been used to
implement a humanoid goalkeeper according to the regulations of
the two-legged Standard Platform League of the RoboCup Federation. We present relevant concepts borrowed from ethology that
we have successfully used for generating autonomous behaviours
in mobile robotics, such as the use of ethograms in robotic pets
or the ideas of schemata, or the use of fixed actions patterns
to implement reactivity. Then we discuss the implementation of
this architecture on the Nao biped robot. Finally, we propose a
method for its evaluation and validation and analyse the results
obtained during RoboCup real competition, which allowed us to
test first hand how it worked in a real environmentS
Desarrollo e integración de comportamientos en el humanoide Nao: un portero para la RoboCup
El trabajo descrito en esta comunicación ha consistido en la implementación de una serie de
comportamientos en un robot humanoide que le
capacitan para jugar al fútbol de forma autónoma
como portero según las reglas de la Standard
League de la RoboCup. Se describe igualmente el
procesamiento básico de imágenes que se realiza y
la arquitectura modular utilizada para integrarlo
con las herramientas de depuración del equipo
TeamChaos y los jugadores de campo desarrollados por otros miembros del equipo TeamChaos del
que los autores forman part
Navigational Path Analysis of Mobile Robot in Various Environments
This dissertation describes work in the area of an autonomous mobile robot. The objective is navigation of mobile robot in a real world dynamic environment avoiding structured and unstructured obstacles either they are static or dynamic. The shapes and position of obstacles are not known to robot prior to navigation. The mobile robot has sensory recognition of specific objects in the environments. This sensory-information provides local information of robots immediate surroundings to its controllers. The information is dealt intelligently by the robot to reach the global objective (the target). Navigational paths as well as time taken during navigation by the mobile robot can be expressed as an optimisation problem and thus can be analyzed and solved using AI techniques. The optimisation of path as well as time taken is based on the kinematic stability and the intelligence of the robot controller. A successful way of structuring the navigation task deals with the issues of individual behaviour design and action coordination of the behaviours. The navigation objective is addressed using fuzzy logic, neural network, adaptive neuro-fuzzy inference system and different other AI technique.The research also addresses distributed autonomous systems using multiple robot