Dynamic Structures for Evolving Tactics and Strategies in Team Robotics

The autonomous robot systems of the future will be teams of robots with complementary specialisms. At any instant robot interactions determine relational structures, and sequences of these structures describe the team dynamics as trajectories through space and time. These structures can be represented in algebraic forms that are realizable as dynamic multilevel data structures within individual robots, as the basis of emergent team data structures. Such formalisms are necessary for robots to learn new individual and collective behaviours. The theory is illustrated by the example of robot soccer where robot interactions create structures and trajectories essential to the evolution of new tactics and strategies in a changing environment

Complex networks analysis in team sports performance: multilevel hypernetworks approach to soccer matches

Humans need to interact socially with others and the environment. These interactions lead to complex systems that elude naïve and casuistic tools for understand these explanations. One way is to search for mechanisms and patterns of behavior in our activities. In this thesis, we focused on players’ interactions in team sports performance and how using complex systems tools, notably complex networks theory and tools, can contribute to Performance Analysis. We began by exploring Network Theory, specifically Social Network Analysis (SNA), first applied to Volleyball (experimental study) and then on soccer (2014 World Cup). The achievements with SNA proved limited in relevant scenarios (e.g., dynamics of networks on n-ary interactions) and we moved to other theories and tools from complex networks in order to tap into the dynamics on/off networks. In our state-of-the-art and review paper we took an important step to move from SNA to Complex Networks Analysis theories and tools, such as Hypernetworks Theory and their structural Multilevel analysis. The method paper explored the Multilevel Hypernetworks Approach to Performance Analysis in soccer matches (English Premier League 2010-11) considering n-ary cooperation and competition interactions between sets of players in different levels of analysis. We presented at an international conference the mathematical formalisms that can express the players’ relationships and the statistical distributions of the occurrence of the sets and their ranks, identifying power law statistical distributions regularities and design (found in some particular exceptions), influenced by coaches’ pre-match arrangement and soccer rules.Os humanos necessitam interagir socialmente com os outros e com o envolvimento. Essas interações estão na origem de sistemas complexos cujo entendimento não é captado através de ferramentas ingénuas e casuísticas. Uma forma será procurar mecanismos e padrões de comportamento nas atividades. Nesta tese, o foco centra-se na utilização de ferramentas dos sistemas complexos, particularmente no contributo da teoria e ferramentas de redes complexas, na Análise do Desempenho Desportivo baseado nas interações dos jogadores de equipas desportivas. Começámos por explorar a Teoria das Redes, especificamente a Análise de Redes Sociais (ARS) no Voleibol (estudo experimental) e depois no futebol (Campeonato do Mundo de 2014). As aplicações da ARS mostraram-se limitadas (por exemplo, na dinâmica das redes em interações n-árias) o que nos trouxe a outras teorias e ferramentas das redes complexas. No capítulo do estadoda- arte e artigo de revisão publicado, abordámos as vantagens de utilização de outras teorias e ferramentas, como a análise Multinível e Teoria das Híperredes. No artigo de métodos, apresentámos a Abordagem de Híperredes Multinível na Análise do Desempenho em jogos de futebol (Premier League Inglesa 2010-11) considerando as interações de cooperação e competição nos conjuntos de jogadores, em diferentes níveis de análise. Numa conferência internacional, apresentámos os formalismos matemáticos que podem expressar as relações dos jogadores e as distribuições estatísticas da ocorrência dos conjuntos e a sua ordem, identificando regularidades de distribuições estatísticas de power law e design (encontrado nalgumas exceções estatísticas específicas), promovidas pelos treinadores na preparação dos jogos e constrangidas pelas regras do futebol

Hypernetworks Analysis of RoboCup Interactions

Robotic soccer simulations are controlled environments in which the rich variety of interactions among agents make them good candidates to be studied as complex adaptive systems. The challenge is to create an autonomous team of soccer agents that can adapt and improve its behaviour as it plays other teams. By analogy with chess, the movements of the soccer agents and the ball form ever-changing networks as players in one team form structures that give their team an advantage. For example, the Defender’s Dilemma involves relationships between an attacker with the ball, a team-mate and a defender. The defender must choose between tackling the player with the ball, or taking a position to intercept a pass to the other attacker. Since these structures involve more that two interacting entities it is necessary to go beyond networks to multidimensional hypernetworks. In this context, this thesis investigates (i) is it possible to identify patterns of play, that lead a team to obtain an advantage ?, (ii) is it possible to forecast with a good degree of accuracy if a certain game action or sequence of game actions is going to be successful, before it has been completed ?, and (iii) is it possible to make behavioural patterns emerge in the game without specifying the behavioural rules in detail ? To investigate these research questions we devised two methods to analyse the interactions between robotic players, one based on traditional programming and one based on Deep Learning. The first method identified thousands of Defender’s Dilemma configurations from RoboCup 2D simulator games and found a statistically significant association between winning and the creation of the defender’s dilemma by the attackers of the winning team. The second method showed that a feedforward Artificial Neural Network trained on thousands of games can take as input the current game configuration and forecast to a high degree of accuracy if the current action will end up in a goal or not. Finally, we designed our own fast and simple robotic soccer simulator for investigating Reinforcement Learning. This showed that Reinforcement Learning using Proximal Policy Optimization could train two agents in the task of scoring a goal, using only basic actions without using pre-built hand-programmed skills. These experiments provide evidence that it is possible: to identify advantageous patterns of play; to forecast if an action or sequence of actions will be successful; and to make behavioural patterns emerge in the game without specifying the behavioural rules in detail

The Role of Hypernetworks as a Multilevel Methodology for Modelling and Understanding Dynamics of Team Sports Performance.

Despite its importance in many academic fields, traditional scientific methodologies struggle to cope with analysis of interactions in many complex adaptive systems, including team sports. Inherent features of such systems (e.g. emergent behaviours) require a more holistic approach to measurement and analysis for understanding system properties. Complexity sciences encompass a holistic approach to research on collective adaptive systems, which integrates concepts and tools from other theories and methods (e.g. ecological dynamics and social network analysis) to explain functioning of such systems in their natural environments. Multilevel networks and hypernetworks comprise novel and potent methodological tools for assessing team dynamics at more sophisticated levels of analysis, increasing their potential to impact on competitive performance in team sports. Here, we discuss how concepts and tools derived from studies of multilevel networks and hypernetworks have the potential for revealing key properties of sports teams as complex, adaptive social systems. This type of analysis can provide valuable information on team performance, which can be used by coaches, sport scientists and performance analysts for enhancing practice and training. We examine the relevance of network sciences, as a sub-discipline of complexity sciences, for studying the dynamics of relational structures of sports teams during practice and competition. Specifically, we explore the benefits of implementing multilevel networks, in contrast to traditional network techniques, highlighting future research possibilities. We conclude by recommending methods for enhancing the applicability of hypernetworks in analysing team dynamics at multiple levels

Modelling Players' Interactions in Football: A Multilevel Hypernetworks Approach.

Na presente tese procura-se avançar com fundamentação teórica e prática, assim como com demonstrações empíricas referentes à reconceptualização das equipas de futebol enquanto redes sociais complexas. Estas redes evidenciam comportamentos sinérgicos emergentes e auto-organizados cuja complexidade, enraizada nas redes de interações dos jogadores, pode ser discernida através da análise de redes sociais. Não obstante, as técnicas tradicionais de rede exibem algumas limitações que podem levar a dados imprecisos e falaciosos. Essas limitações estão relacionadas com a exagerada ênfase que é colocada nos comportamentos de ataque das equipas, negligenciando-se as ações defensivas. Tal leva a que: a troca de informações incida maioritariamente nos comportamentos de passe; a variabilidade do comportamento dos jogadores seja, na maioria dos casos, desconsiderada; e a maioria das métricas usadas para modelar as interações dos jogadores se baseiem em distâncias geodésicas. Assim, as hiperredes multiníveis são aqui propostas enquanto nova abordagem metodológica capaz de superar aquelas limitações. Esta abordagem multinível caracteriza-se por um conjunto de conceitos e ferramentas metodológicas coerentes com a análise da dinâmica relacional subjacente aos processos sinergísticos evidenciados durante a competição. Por um lado, estes processos foram capturados na dinâmica de alteração das configurações táticas exibidas pelas equipas durante a competição, pela quantificação do tipo de simplices (interações de grupos de jogadores, e.g., 2vs.1) atendendo à localização da bola, e na dinâmica de interação, transformação dos simplices em determinados eventos do jogo. Por outro lado, a aplicação das hiperredes multiníveis permitiu, de igual modo, capturar as tendências de sincronização local (nível meso) emergentes em contextos de prática. Esta tese destacou o valor da adoção de uma abordagem de hiperredes multiníveis para melhorar a compreensão sobre os processos sinérgicos dos jogadores e equipas de futebol emergentes durante a prática e a competição. Estas poderão vir a revelar-se ferramentas promissoras na análise da performance desportiva, tendo igualmente um papel relevante na monitorização e controlo do treino.PALAVRAS-CHAVE: FUTEBOL, CIÊNCIA DAS REDES, HIPERREDES MULTINÍVEL, DINÂMICA DA EQUIPA, ANÁLISE DA PERFORMANCEThis thesis aims to advance practical and theoretical understanding, as well as empirical evidence regarding the re-conceptualisation of Football teams as complex social networks. These networks display synergetic, emergent and self-organised behaviour and the complexity rooted in the networks of players' interactions can be discerned through analysis of social networks. Notwithstanding, traditional network techniques display some limitations that can lead to inaccurate and misleading data. Such limitations are related with an over-emphasis on network attacking behaviours thus neglecting the defensive actions of the opposing team. This leads to: information exchange mainly analysed through passing behaviours; the variability of players' performance is in most cases disregarded; most metrics used to model players' interactions are based on geodesic distances. Thus, multilevel hypernetworks are proposed as a novel methodological approach capable of overriding such limitations. This multilevel approach is characterised by a set of conceptual and methodological tools consistent with analysis of the relational dynamics underlying the synergistic processes evidenced during competition. On the one hand, these processes were captured in the changing dynamics of tactical configurations of teams during competition, by the quantification of the type of simplices (interactions between sub-groups of players, e.g., 2vs.1) in relation to ball location, and in the dynamics of simplices' interactions and transformations in certain game events. On the other hand, the application of multilevel hypernetworks allowed to capture local (meso level) synchronisation tendencies in practice contexts. This thesis highlighted the value of adopting a multilevel hypernetworks approach for enhancing understanding about the synergistic processes of players and football teams emerging during practice and competition. These tools may prove to be promising in the analysis of sports performance, also having an important role in the monitoring and control of training

A Structural Language for Multilevel Dynamics in the Design of Robot Soccer Systems

Relational structure is ubiquitous in complex systems but very hard to implement in machines. Traditionally relational structures were hand-crafted using logic-based methods including various relational approaches to pattern recognition. Today the hope is that machines will find relational structures automatically by techniques of deep learning. Both approaches require new methods for representing relational structure for dynamic complex multilevel systems. We use the platform of robot soccer to investigate these ideas. This paper follows a previous paper which presented new dynamic structures for evolving tactics and strategies in team robotics. Here the notation is extended to include structures of structures of structures. For example a red defender robot r1 may closely mark a blue attacker robot b2 to create a structure . This may be part of another structure , b3; Rdefenders_dilemma > as another robot b3 joins in to change the relational structure. This approach is illustrated by a RoboCup simulation game. Our next step is to build a competitive player to show that the ideas are operational and may give tactical and strategic advantages

A multilevel hypernetworks approach to capture properties of team synergies at higher complexity levels.

Previous work has sought to explain team coordination using insights from theories of synergy formation in collective systems. Under this theoretical rationale, players are conceptualised as independent degrees of freedom, whose interactions can become coupled to produce team synergies, guided by shared affordances. Previous conceptualisation from this perspective has identified key properties of synergies, the measurement of which can reveal important aspects of team dynamics. However, some team properties have been measured through implementation of a variety of methods, while others have only been loosely addressed. Here, we show how multilevel hypernetworks comprise an innovative methodological framework that can successfully capture key properties of synergies, clarifying conceptual issues concerning team collective behaviours based on team synergy formation. Therefore, this study investigated whether different synergy properties could be operationally related utilising hypernetworks. Thus, we constructed a multilevel model composed of three levels of analysis. Level N captured changes in tactical configurations of teams during competitive performance. While Team A changed from an initial 1-4-3-3 to a 1-4-4-2 tactical configuration, Team B altered the dynamics of the midfielders. At Level N + 1, the 2 vs. 1 (1 vs. 2) and 1 vs. 1 were the most frequently emerging simplices, both behind and ahead of the ball line for both competing teams. Level N + 2 allowed us to identify the prominent players (a6, a8, a12, a13) and their interactions, within and between simplices, before a goal was scored. These findings showed that different synergy properties can be assessed through hypernetworks, which can provide a coherent theoretical understanding of competitive team performance

A multilevel hypernetworks approach to capture meso-level synchronisation processes in football

Understanding team behaviours in sports performance requires understanding the interdependencies established between their levels of complexity (micro-meso-macro). Previously, most studies examined interactions emerging at micro- and macro-levels, thus neglecting those emerging at a meso-level (reveals connections between player and team levels, depicted by the emergence of coordination in specific sub-groups of players-simplices during performance). We addressed this issue using the multilevel hypernetworks approach, adopting a cluster-phase method, to record player-simplice synchronies in two performance conditions where the number, size and location of goals were manipulated (first-condition: 6 × 6 + 4 mini-goals; second-condition: Gk + 6 × 6 + Gk). We investigated meso-level coordination tendencies, as a function of ball-possession (attacking/defending), field-direction (longitudinal/lateral) and teams (Team A/Team B). Generally, large synergistic relations and more stable patterns were observed in the longitudinal direction of the field than the lateral direction for both teams, and for both game phases in the first condition. The second condition displayed higher synchronies and more stable patterns in the lateral direction than the longitudinal plane for both teams, and for both game phases. Results suggest: (i) usefulness of hypernetworks in assessing synchronisation of teams at a meso-level; (ii) coaches may consider manipulating these task constraints to develop levels of local synchronies within teams

Shared affordances guide interpersonal synergies in sport teams

This chapter focuses on the technologies for monitoring interpersonal coordination in team sports as this is an area that is receiving growing interest. They can be categorized into those based on: signal propagation sensing, inertial sensors, vision/image-based systems, and electro-magnetic tracking. The chapter provides an overview of the technologies available for studying interpersonal coordination, highlighting the key measurement principles. Vision systems can be categorized as marker based or non-marker based. This chapter talks about the capabilities and availability of technologies that can be used to assess interpersonal coordination are developing rapidly. Technologies such as mobile phones containing Global Positioning System (GPS) and inertial sensors offer considerable potential. These and other developing technologies offer the possibility of extending the scale and frequency of interpersonal coordination analyses in both research and real-world contexts. The chapter also explains the Global Navigation Satellite System (GNSS) that is a system of satellites provides positioning over the entire globe.info:eu-repo/semantics/acceptedVersio