Intelligent Soccer

Team

Gustavo Armagno

Facundo Benavides

Claudia Rostagnol

www.fing.edu.uy/~pgfira

Agenda

Introduction Who we are Background

RoboSoccer Motivation Leagues

Our Project Research Future steps and expectations

FIbRA | Brazil Agents School | 2005 2

Agenda

Introduction Who we are Background

RoboSoccer Motivation Leagues

Our Project Research Future steps and expectations

FIbRA | Brazil Agents School | 2005 3

Introduction

Faculty of Engineering, University of Republic of Uruguay Computer Engineering, final thesis: FIbRA Team

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Who we are

Robot Vision (2003) Low cost construction of robots

(2003) Robots Behaviour (2003)

FRUTo Team Low cost construction of biped

robots (2004)

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IntroductionBackground

Agenda

Introduction Who we are Background

RoboSoccer Motivation Leagues

Our Project Research Future steps and expectations

FIbRA | Brazil Agents School | 2005 6

Many of the researches in robotics were inspired on solving social and industrial problems. There are unhealthy tasks in which robots are more suitable than humans. In some cases, life is in risk or tasks must be done in inaccessible places.

RoboSoccer (Robot Soccer) initiative gives a good arena for multi-agent research, dealing with research subjects such as cooperation protocol by distributed control, effective communication and fault tolerance, while having efficiency in cooperation, adaptation, robustness and being in real-time.

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RoboSoccerMotivation

• FIRA– Official website

• www.fira.net

– Acronym of Federation of International RoboSoccer Association

– Beginning• Began in 1995 and the first international championship was

held at KAIST, Daejeon, Korea in 1996

– Objectives• To promote the development of autonomous multi-agent

robotic system that can cooperate with each other and contribute to the state-of-the-art technology improvement in this specialized field.

FIbRA | Brazil Agents School | 2005 8

RoboSoccerLeagues

• FIRA leagues– HuroSot (Humanoid Robot World

Cup Soccer Tournament)• Humanoid two-legged robots

– KheperaSot• Each team consists of one robot

player and up to two human team members.

• Fully autonomous robots with on board vision system.

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RoboSoccerLeagues

• FIRA leagues– MiroSot (Micro Robot World Cup Soccer

Tournament)• Each team consists of three robots.• One host computer per team controls vision

processing and other identified location.

– NaroSot• Similar to MiroSot but played with five

smaller robots per team.

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RoboSoccerLeagues

• FIRA leagues– RoboSot

• Each team consists of one to three robots.

• The robots can be fully or semi-autonomous.

– SimuroSot• Simulated league.• Consists of a server which has the

soccer game environment and two client programs with the game strategies.

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RoboSoccerLeagues

• RoboCup– Official website

• www.robocup.org– What is RoboCup?

• International joint project to integrate and promote AI and robotic research by providing a standard problem, robot soccer.

• Long-term goal: by 2050, develop a team of fully autonomous humanoid robots that can beat the human soccer world champion team.

– Differences between FIRA and RoboCup• One of the most important difference between FIRA and

RoboCup´s simulated leagues is related to the robot perception. FIRA robots have a global vision system while RoboCup robots have a local vision system into each robot.

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RoboSoccerLeagues

Agenda

Introduction Who we are Backgrounds

RoboSoccer Motivation Leagues

Our Project Research Future steps and expectations

FIbRA | Brazil Agents School | 2005 13

FRUTo project FRUTo project is our narrowest antecedent in

RoboSoccer. FRUTo team has participated in CAFR regional

championship obtaining good and auspicious results taking into account that it was the first experience in this area in Uruguay.

FRUTo project sorted out most of the low-level behaviour issues of a RoboSoccer team.

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Our ProjectResearch

• FIbRA project– FIbRA project main goal is to improve the high-level behaviour in

order to achieve a well cooperative behaved team, using Artificial Intelligence in the team strategy.

– Nowadays we are studying some machine learning techniques like Artificial Neural Network (ANN), Reinforcement Learning (RL) and Genetic Programming (GP).

– Although, this techniques can help us with the strategy, there are other aspects related with communication and collaboration that can be sorted out using an Agent Oriented Architecture.

– We are studying articles about Animal Societies behaviour that have inspired researchers to find out solutions for the making decision problem.

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Our ProjectResearch

• Prototypes– Develop small prototypes to learn the techniques

mentioned before and choose the appropriated ones to be applied to the final solution.

• Objectives– Develop a competitive intelligent RoboSoccer team

capable of participate in international championships on SimuroSot League.

– Gain experience in the use of AI techniques.

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Our ProjectFuture steps and expectations

Thank you