9 research outputs found
Mobile robot competitions: fostering advances in research, development and education in robotics
Mobile robot competitions are events well suited to experimentation, research and development in many areas concerned with science and technology, ranging from material science to artificial intelligence. Aware of this fact, and for several years now, some Portuguese Universities
have been involving some of their Engineering and Computer Science students in such contests, namely those of international level. The performance has been improving both in terms of the results and prizes obtained and the increasingly elaborate technical solutions developed by the teams. The importance recognised in these events has led the authors to submit to the Portuguese Government a proposal for an annual Festival of this kind in Portugal. This paper points out the advances in research, technology and education, which result from this type of events
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Omni-directional catadioptric vision for soccer robots
This paper describes the design of a multi-part mirror catadioptric vision system and its use for self-localization and
detection of relevant objects in soccer robots. The mirror and associated algorithms have been used in robots participating in
the middle-size league of RoboCup — The World Cup of Soccer Robots.This work was supported by grant PRAXIS XXI BM/21091/99 of the Portuguese Foundation for Science and Technolog
Problems and solutions in middle size robot soccer: a review
A review of current scientific and technological problems encountered in building and programming middle size soccer robots is made in this paper. Solutions and solution trends to the problems, as presented by different teams, are also examined. Perceptual systems of individual robots, in particular with respect to object location, communications between robot players, decision making with regard to game strategy and behaviour generation, and, finally, actuation, are the topics dealt with. This makes for a wide perspective on the actual state of the art of middle size soccer robots
Individual and coordinated decision for the CAMBADA team
Mestrado em Engenharia de Computadores e TelemáticaA coordenação em sistemas multi-robô é um aspecto crucial no futebol robótico. A maneira como cada equipa coordena cada um dos seus robôs em acções cooperativas define a base da sua estratégia.
Este trabalho tem como foco o desenvolvimento da coordenação e estratégia da equipa CAMBADA. CAMBADA é a equipa de futebol robótico da modalidade RoboCup Middle Size League da Universidade de Aveiro.
Foi desenvolvida pelo grupo ATRI, pertencente µa unidade de investigação IEETA. O presente trabalho baseia-se em trabalho desenvolvido anteriormente, tentando melhorar o desempenho da equipa. Cada robô da equipa CAMBADA é um agente independente e autónomo capaz de coordenar as suas acções com os colegas de equipa através da comunicação e da partilha
de informação. O comportamento de cada robô deverá ser integrado na estratégia global da equipa, resultando assim em acções cooperativas de todos os robôs. Isto é conseguido através do uso de papeis(roles) e comportamentos(behaviours) que definem a atitude de cada robô e as acções que daí resultam.
Novos papeis foram desenvolvidos para complementar a estratégia de equipa, e alguns dos papeis existentes foram melhorados. Também foram
efectuadas melhorias em alguns dos comportamentos existentes. É efectu-
ada a descrição de cada um destes papeis e comportamentos, assim como as alterações efectuadas. O trabalho desenvolvido foi testado nas competições do Robótica 2008 (o desenvolvimento não estava ainda concluído)
e por fim nas competições do RoboCup'2008. A participação da equipa no RoboCup'2008 é analisada e discutida. A equipa consagrou-se campeã mundial, vencendo a competição da Middle Size League do RoboCup'2008
em Suzhou, China.
ABSTRACT: Multi-robot coordination is one crucial aspect in robotic soccer. The way each team coordinates its individual robots into cooperative global actions
define the foundation of its strategy.
CAMBADA is the RoboCup Middle Size League robotic soccer team of the University of Aveiro. It was created by the ATRI group, part of the
IEETA research unit. This work is focused on coordination and strategy development for the CAMBADA team. It is built upon previous work and
tries to improve the team performance further. In CAMBADA each robot is an independent agent, it coordinates its actions with its teammates through
communication and information exchange. The resulting behaviour of the individual robot should be integrated into the global team strategy, thus
resulting in cooperative actions by all the robots. This is done by the use of roles and behaviours that define each robot attitude in the field and
resulting individual actions.
In this work, new roles were created to add to the team strategy and some of the previous existing roles were improved. Some of the existing behaviours were also improved to better fit the desired goals. Each role and behaviour is described as well as the changes made. The resulting work was put to test in the portuguese Robotica 2008 competition (while still in progress) and finally in the RoboCup'2008 world competitions. The performance of the team in the latter is analysed and discussed. The team achieved the 1st
place in the RoboCup'2008 MSL world competitions
Demonstrador de condução autónoma
Tese de mestrado integrado. Engenharia Electrotécnica e de Computadores (Automação). Universidade do Porto. Faculdade de Engenharia. 201
ISocRob - Team Description
. This paper provides a technical description of the ISocRob team, participating at the RoboCup'98 robotic soccer competition, in the mid-size league. The ISocRob constitutes a challenge for research on broad and generic approaches for the design of a cooperating society of robots. This paper addresses both design and implementation issues of the soccer "players", as well as hardware construction details. 1 Introduction Multi-agent systems have become very popular in recent years, especially as a research area in Distributed Artificial Intelligence (DAI) [7]. Simultaneously, several robotic systems based on a fleet of robots have been developed, as an alternative to single-robot systems common in the past [11]. Therefore, it seems that a promising research direction will result from joint work between researchers interested in DAI and Intelligent Robotics. Fig. 1. Two of ISocRob Team members. The Artificial Intelligence and Manufacturing Systems and the Intelligent Control laboratorie..