the idea of robot soccer the idea of robot soccer
TRANSCRIPT
The idea of The idea of Robot Robot SoccerSoccer
3. Robot Soccer and 3. Robot Soccer and Similar TasksSimilar Tasks
• Robot Soccer Competition– RoboCup– FIRA– Remote controlled systems– Autonomous robots
• Clustering
3.1 Robot Soccer3.1 Robot Soccer“RoboCup is an international joint project to promote AI,robotics, and related fields.
It is an attempt to foster AI andintelligent robotics research by providing a standard problemwhere a wide range of technologies can be integrated andexamined.
RoboCup chose to use the soccer game as a centraltopic of research, aiming at innovations to be applied forsocially significant problems and industries.
The ultimate goalof the RoboCup project is: By 2050, develop a team of fullyautonomous humanoid robots that can win against the humanworld champion team in soccer.” [RoboCup 1998]
Overhead Overhead VisionVision
Local Local VisionVision
Design CriteriaDesign Criteria• Controller Hardware: Enable on-board
image processing– Interface to digital camera– Incorporate graphics LCD– Incorporate user buttons– Wireless communication between robots
• Sensors: Allow variety of additional sensors:– Shaft encoders– Infra-red distance measurement sensors– Compass module
• Software: Flexibility to accommodate for different robot equipment– Operating system RoBIOS– Hardware description table HDT
What is AI?What is AI?
Research in AI includes: design of intelligent machines formalization of the notions of intelligence
and rational behavior understanding mechanisms of intelligence interaction of humans and intelligent
machines.
Objectives of AIObjectives of AI
Engineering : costruct intelligent machines
Scientific : understand what is intelligence.
Can a robot do these?Can a robot do these?Understand?Simulate its environment?Act rationally?Collaborate and compete?Display emotions?
A team of Robots will beat the FIFA World Cup A team of Robots will beat the FIFA World Cup champions by 2050! champions by 2050!
A bold claim:A bold claim:
RoboCup - AimRoboCup - Aim
”pushing the state-of-the-art”
”By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup.
TO BOLDLY GO WHERE MAN HAS GONE BEFORE (cf. Star Trek)
Formalised Testbed
Do you really believe that a team of Do you really believe that a team of Robots could beat the FIFA World Cup Robots could beat the FIFA World Cup
champions by 2050? champions by 2050?
By all accounts this may sound overly ambitious. In fact, if you compare this goal to other ground breaking achievements it is not ambitious at all. The Wright brothers' first airplane was launched and 50 years later man landed on the moon. Even more recently Deep Blue the computer programmed to play chess, played chess grand master Garry Kasparov and won -- roughly 50 years after the deployment of the first computer. It's a long time. Think what has happened since 1950.
Power of AIPower of AI
In 1997 a computer, Deep Blue, won a chess match with world champion Kasparov. Accident? IBM paid Kasparov to loose? Brute force with no intelligence?
So, what is intelligence?
Is the following AI?Is the following AI?
SimulationSimulation
Turing test (1950)
Chess versus soccer robotChess versus soccer robot
Difference of domain characteristics between computer chess and soccer robots
DistributedCentralControl
Non-symbolicSymbolicSensor Readings
IncompleteCompleteInfo. accessibility
Real timeTurn takingState ChangeDynamicStaticEnvironment
RoboCupChess
Intelligent Agents Intelligent Agents Agents are situated Perception of environment Execution of actions
Agents can communicate and collaborate they can differ than can compete and be more or less
egoistic/altruistic
The agents have: objectives, communications, intentions.
Professor Professor Kim from Kim from
KAISTKAISTThe founder of Robot Soccer and FIRA president
A New ApproachA New Approach
Two organizations:
1. FIRA (earlier)
2. RoboCup (larger)
Four Blocks in two PCBs (Printed Four Blocks in two PCBs (Printed Circuit Boards)Circuit Boards)
Micro-controller (upper PCB) Communication module (upper
PCB) Motor and driving circuits (lower
PCB) Power (lower PCB)
top view front view side view
Importance of Robot Importance of Robot SoccerSoccer
Communication CooperationCoordination LearningCompetenceReal Time
Robot Soccer EvolutionComputer simulationsWheeled brainless robotsWheeled autonomous robotsLegged autonomous robots
Robot Soccer PurposeRobot Soccer Purpose
“The number one goal of [robot soccer] is not winning or losing, but accumulating diverse technology.” - Mr. Dao (Senior VP of Sony
Corporation).
Robot Robot Soccer Soccer
CompetitionCompetitions s
Robot Soccer? Robot Soccer?
Robot Soccer competitions proposed to help collaborate and evaluate various approaches:
Software, hardware, electronics, sensors, motors, theories.
Difficult problem, challenge for top universities and industries
FIRA & RoboCupFIRA & RoboCup
HistoryCategory
Integrating various Integrating various technologiestechnologies
Autonomous agentsCollaboration of agentsStrategy acquisition Real-time information processingMobile robotics and robot visionHardware and software technologies
FIRA FIRA
IndexIndex
IntroductionFIRA & Robocup History Category
Discussion IssuesPSU soccer robot projects
4th FIRA Robot Soccer 4th FIRA Robot Soccer World Cup World Cup WinnersWinners
Notre Dame school, Campinas, Brazil (Aug 4-8, 1999)
MiroSot 1st : RobotIS (Korea) 2nd : SIOR (Korea) 3rd : SOTY IV (Korea)
NaroSot 1st : RobotIS (Korea) 2nd : Y2K2 (Korea) 3rd : Olympus (Korea)
RoboCup-99 StockholmRoboCup-99 Stockholm WinnersWinners
Stockholm City Conference Center, Stockholm, Sweden(Jul.27 - Aug. 6, 1999)
Conjunction with IJCAI-99 Simulation League
1st : CMUnited-99 (USA) Small Size League
1st : The Big Red (USA) Middle Size League
1st : CS Sharif (Iran) Sony Legged Robot League
1st : Les 3 Mousquetaries (France)
HistoryHistory
1995 - Idea of Robot Soccer Prof. Jong-Hwan Kim (KAIST) Micro-Robot World Cup Soccer Tournament
(MiroSot) Int. Organizing Committee for MiroSot (Sep.,
1995)
Pre-meeting on MiroSot Jul. 29 - Aug. 4, 1996, KAIST 30 teams from 13 countries Clear shape of MiroSot Rule
FIRAFIRA
1st MiroSot1st MiroSot
Nov. 9 - 12, 1996, KAIST23 teams from 10 countriesMiroSot Newton Research Lab. (USA)
Single-MiroSot (S-MiroSot) Carnegie Mellon United Team (USA)
Formulation of Soccer Robot
FIRAFIRAhistoryhistory
2nd MiroSot2nd MiroSotJun. 1 - 5, 1997, KAIST22 teams from 9 countriesMiroSot
Newton Research Lab. (USA) OverDrive (MR, KAIST)
S-MiroSot UFO (MaroTech, Korea) MIRAGE (KAIST)
Development of vision technology Vision - 30(60) frames/sec.
Beginning of FIRA
FIRAFIRAhistoryhistory
FIRA Robot World FIRA Robot World CupCup
FIRA Robot World Cup ‘98 Jun. 30 - Jul. 3, 1998, La Cite de Sciences Industrie, Paris,
France NaroSot (Nano-Robot World Cup Soccer Tournament)
1st : MIRO III (KAIST) S-KheperaSot (Khepera Robot)
1st : STATIC, (Univ. of Aarhus, Denmark) MiroSot
Four FIRA regional championships 1st : The Keys (Human Interface Inc., Korea)
Development of vision & motor technology vision - 60 frames/sec motor - 2m/sec
FIRA Robot World Cup ‘99
FIRAFIRAhistoryhistory
CategoryCategory
MiroSot
NaroSot
KheperaSot
RaroSot
FIRAFIRA
MiroSotMiroSot
3 robots on 1 teamSize : 7.5cm * 7.5cm * 7.5cmBall : orange golf ballPlayground : black wooden rectangular playground
(150cm * 130cm * 5cm)
Vision : global vision system
(more than 2m above playground)
FIRAFIRAcategorycategory
Experimental SetupExperimental Setupof the Vision Systemof the Vision System
Control panel
NaroSotNaroSot5 robots on 1 teamSize : 4cm * 4cm * 5.5cmBall : orange table-tennis ballPlayground , Vision : same as Mirosot
FIRAFIRAcategorycategory
KheperaSotKheperaSot3 robots on 1 teamBall : yellow tennis ballPlayground : green playground (105cm * 68cm * 20cm)Robot : Khepera RobotVision : K213 Vision Turret
FIRAFIRAcategorycategory
RoboSotRoboSot3 robots on 1 teamSize : 15cm * 15cm * 30cmBall : red roller-hockey ballPlayground : black wooden rectangular playground
(220cm * 150cm * 30cm)Vision : on the robot
Under preparation
FIRAFIRAcategorycategory
RoboCupRoboCupA project directed by Carnegie Mellon University (CMU)
Robot World Cup Soccer Games and Conferences
Robots working, playing, and competing against each other
Revolution in science and entertainment
Breakthrough in the fields of robotics and AI
Goal: to culminate all the challenges in AI like temporal reasoning, machine learning, vision processing, obstacle avoidance, perception, cognition and motion control
Started in 1993…….Started in 1993…….
In RoboCup 1999 there were more than 1500 researchers actively participating within the RoboCup initiative.
… and the number is still increasing.
Leagues of RoboCupLeagues of RoboCupSimulator League Small Robot League Full Set Small Robot League, which is 11 robots per team (F-180)Middle Size Robot League (F2000) Legged Robot Games
Sony Legged Robot League (Sponsored by Sony) Humanoid League (From 2002, demonstration may take place before 2002) TeleOperation Track (to be announced) RoboCup Commentator Exhibition, Related Competitions (rescue, actors, etc).
Various levelsVarious levels
real robot leagues
software agent league special skill competition
HistoryHistory
Jun. 1993 - Robot J-League Minoru Asada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki
Kitano(SONY) Robot World Cup (RoboCup)
Sep. 1993 - first public announcement Minour Asada, Manuela Veloso(CMU)
1995 - first simulator for soccer games Itsuki Noda(ETL) C++ version soccer server v1.0 IJCAI-95 : first public demonstration
1996 - Pre-RoboCup-96 Nov. 4-8, 1996, Osaka, IROS-96 8 teams for simulation league, demonstration of middle size
league
RobocupRobocup
HistoryHistory
RoboCup-1997 Nagoya, Japan, IJCAI 97RoboCup-1998 Paris, France, MAAMAW
AI*IA, Padova, Italy, September 1998RoboCup-1999 Stockholm, IJCAI 99RoboCup Euro 2000 AmsterdamRoboCup-2000 MelbourneRoboCup Japan Open 2001 FukuokaRoboCup German Open 2001 PaderbornRoboCup-2001 Seattle, USA
RoboCup 97 NagoyaRoboCup 97 NagoyaAug 23 - 29, 1997, Nagoya, JapanConjuction with IJCAI-97Simulator league 33 teams: USA=8, Europe=8, Australia=2, Japan=15 1st : AT Humboldt (Humboldt Univ., Germany)
Small size robot league 4 teams : USA, France, Spain, Japan 1st : CMUnited (CMU, USA)
Middle size robot league 5 teams : USA, Australia, Japan 1st : Dreamteam (USC, USA), Trakies(Osaka Univ.,
Japan)
Expert Robot Exhibit
RoboCup 98 ParisRoboCup 98 ParisJul. 2-9, 1998, La Cite de Sciences Industrie, Paris, FranceConjunction with ICMAS-98Middle size league
1st : CS-Freiberg, Germany
Small size league 1st : CMUnited98 (CMU, USA)
Simulator league 1st : CMUnited98 (CMU, USA)
Exhibitions Full set small size robot league (11 robots) Legged robot game LEGO robot football demonstration Webot simulator league
SimulatioSimulation Leaguen League
Simplified problem …World is two-dimensional.
Players are points.
Simplified control of movements
No collisions and conflict solving.
Simulator League: Simulator League:
Simulation of soccer using artificial intelligence programs. Each team consists of eleven autonomous software players. Sophisticated rules apply in this league.
Simulation LeagueSimulation LeagueEach Team consisting of 11 programs, each controlling 1 of 11 simulated team members
The game takes place on a soccer software server
Motion, energy and distributed sensing capabilities are resource bounded
Time 11 minutes
Communication is available between players and strict rules are enforced e.g. offsides
Mainly for researchers interested in complex multi-agent reasoning and learning issues but don’t have the resources for building real robots
Simulation LeagueSimulation League
Client-server system Server : virtual field Client : brain, control Communication : UDP/IP
Open system Clients can be written by
any programming systems.
SoccerServerSoccerServer
SoccerMonitor
Architecture Architecture
Server
Coach Blu
Coach Rosso
Arbitro umano
...
...
......
Human arbiter
Blue coach
Red
coach
Example - University Example - University teamteam
Entirely written in Java.Is built upon mainly decision trees10-15 threads running per player… however most of the time the threads is a sleep.Approx. 22 000 lines of code, and increasing!Written by 4 persons
Simulator League: Simulator League:
Small-Small-Size Size
LeagueLeague
Small-Size League (F-180)Small-Size League (F-180)
Field: 2.7 m x 1.5 m
teams of autonomous small size robot play soccer game on a field equivalent to a ping-pong table. Each team consists of 5 robots.
SizeArea : 18cm rule (fit inside in 18cm diameter cylinder)Height : 15cm (global vision), 22.5cm (otherwise)
Small size leagueSmall size league
The field is the size and color of a Ping Pong table
orange golf ballorange golf ball
Robots move at speeds as high as 2 meters/second Global
vision is allowed
Robot Soccer InitiativeRobot Soccer Initiative
Basic Architecture for Robot Soccer Systems
Robots on the playing field
Host computer
Host computer
Vision system
Communication System Communication
System
“Brainless” System
Vision SystemVision System• Vision : global vision system
(more than 3m above ground)
Each team has its own camera and PC
Small-Size LeagueSmall-Size League20 minutes, 2 breaks
Real Robot Small-Size League CompetitionReal Robot Small-Size League Competition
Middle-Middle-Size Size
LeagueLeague
Middle-size Real Robot Middle-size Real Robot League (F-2000): League (F-2000): Local Local
VISIONVISION The field is the size and color of a 3 x 3 arrangement of Ping
Pong tables (9-3 5-meter field)
Each team consists of 5 robots playing with a Futsal-4 ball (4 players, one goal-keeper)
Larger (50 centimeters in diameter) robots
Global vision is not allowed. Each robot has its own vision system
Goals are colored
Field is surrounded by walls to allow for distributed localization through robot sensing
Rule structure based on the official FIFA rules
Medium size leagueMedium size league
Teams of autonomous mid size robots
Real Robot Middle-Size League Real Robot Middle-Size League CompetitionCompetition
Ball : red small soccer ball (FIFA standard size 4 or 5)Playground : green playground (10m * 7m * 0.5m)
Medium Size Medium Size LeagueLeague
Medium Size LeagueMedium Size League
Robots can be heterogenousRobots can be heterogenous
Middle-Middle-Size Size
LeagueLeague
Sony Sony Legged Legged Robot Robot
LeagueLeague
Sony Legged Robot LeagueSony Legged Robot League
3 robots on 1 team (including the goalkeeper).Robot : AIBO ERS-110 (provided by Sony)
No communication, autonomous robots, No communication, autonomous robots, software only. Legged Robot Leaguesoftware only. Legged Robot League. 2.8 m x 1.8 . 2.8 m x 1.8
mm2 players and 1 goal-keeper in a team2 players and 1 goal-keeper in a team
Sony Legged Robot LeagueSony Legged Robot LeagueIs played on a field, approx 3x2 meter Sony develops the robots, and provides a interface for the programming of the robots.
•No Hardware modification is allowed
Playing time is 10 minutes per half, with a 10 minute break at halftime
Do different Robots have different personalities?
Some teams have robots with very different capabilities.
But it is hard to think of them as having personalities; rather the robots have different playing
styles.
Early Sony prototypeEarly Sony prototype
Robot movements closely mirror those of animals
•The winner is the team that scores the most goals.• In the event of a tie, a sudden death penalty kick competition will determine the winner
The Legged Robot LeagueThe Legged Robot League
The Legged Robot LeagueThe Legged Robot League
If opposing teams' robots are damaged or play is excessively rough (whether intentional or not), penalties may be assessed to the offending robot
HumanoiHumanoid Leagued League
Starting 2002, the humanoid Starting 2002, the humanoid leagueleague
Humanoid LeagueHumanoid League
Bi-Ped League (Humanoid) Australia Japan
RobotCup-RobotCup-RescueRescue
RoboCup-Rescue Simulation Project is a new practical domain of RoboCup
A new initiative on search and rescue for large scale disasters
A generic urban disaster simulation environment constructed on network computers
Heterogeneous intelligent agents such as fire fighters, commanders, victims, volunteers, etc. conduct search and rescue activities in this virtual disaster world
Goal: to enlighten citizens about accurate damage predictions, decision support in real disasters, and emergence of better disaster prevention strategies
Robocup-Robocup-JuniorJunior
Initiative to promote educational aspects regarding RoboCup and advanced robotics topics
children below 18 years old participate in the RoboCup-Junior games
promotes participation by under-graduates, non-science graduates and general public, who are interested in RoboCup, but do not have the effort to get involved in the RoboCup World Cup games
CompetitorsCompetitorsSimulation
Japan Iran Singapor
e USA Russia Germany Romania Portugal Catalonia Italy England Finland Sweden Australia
F-180 (Small Size)
Australia Belgium Catalonia China Denmark Germany Japan Korea New Zealand Portugal Singapore USA
F-2000 (Middle Size)
Italy Australia Germany Iran Japan Portugal Singapore USA
Sony Four Legged
USA France Japan Australia USA Canada Germany Sweden Italy England
Champions:
1 USA, Cornell
2 Germany
3 Singapore
Champions:
1 Portugal
2 Germany
3 USA, CMU
Champions:
1 Germany
2 Italy
3 Iran
Champions:
1 Australia
2 France
3 USA, CMU
Where is the science Where is the science in these robot in these robot competitions?competitions?
Global vision Local vision Other sensors Cooperation Sensor fusion Strategy Learning
Sensors and Actuators Sensors and Actuators for Robot Soccerfor Robot Soccer
Local and Global Local and Global VISIONVISION
Sensors for Robot Sensors for Robot SoccerSoccer
• Shaft Encoders– PI controller to maintain wheel speed– PI controller to maintain path curvature– Dead reckoning for vehicle position + orientation
• Infrared Distance Measurement– Avoid Collision– Navigate and map unknown environment– Update internal position in known environment
• Compass– Update orientation independent of shaft encoders– Fault-tolerance in case robot gets pushed or wheels slip
Sensors for Robot Sensors for Robot SoccerSoccer
• Digital Camera– Low resolution, 60x80 pixels, 24bit color
(Braunl)– Color or shape recognition
• Communication– Sharing information among robots– Receiving commands from human operator
Team of Prof. BraunlTeam of Prof. Braunl
Another Robot of Prof. Another Robot of Prof. BraunlBraunl
One more robot of Prof. One more robot of Prof. BraunlBraunl
VISION: VISION: Color DetectionColor Detection• In robot soccer, objects are color coded:
ball, goals, opponents, team mates, walls, etc.
Teach ball and goal color (hue) before starting the game
Match colors in HSI space→ Better in changing lighting conditions
This can be applied to any position of the camera
Distance Estimation Distance Estimation for Soccer Robotsfor Soccer Robots
Many cameras, many positions
Driving Routines for Driving Routines for Soccer RobotsSoccer Robots
Driving Spline Driving Spline CurvesCurves
Previous driving routines: Combination of circles and straight lines
Alternative driving routines: Hermite Splines robot position pk\ robot heading Dpk ball position (desired position) pk+1 angle between ball and goal (desired orientation)
Dpk+1
Insert intermediate point in case robot has to drive around the ball.
Alternative driving routines: Hermite Splines robot position pk\
robot heading Dpk
ball position (desired position) pk+1
angle between ball and goal (desired orientation) Dpk+1
Driving Spline CurvesDriving Spline Curves
Hermite Splinesrobot position pk\robot heading Dpkball position (desired position) pk+1angle between ball and goal (desired orientation) Dpk+1
Trajectory PlanningTrajectory Planning
Trajectory Trajectory PlanningPlanning
Ball ApproachBall Approach
This slide shows several ways of approaching the ball that depend on positions of robot and ball
Obstacle Obstacle AvoidanceAvoidance
Activate avoid_obstacleavoid_obstacle routine, if: 1. PSD sensors detect obstacle within critical
distance 2. stall function is activated.
Drive backwards until obstacle is out of reach.
If ball is caught in front of robot, kick it towards opponent’s goal before driving away.
Reset position as part of the avoid_obstacle routine.
Team Player RolesTeam Player Roles
Goal Scoring Goal Scoring with on board with on board camerascameras
Try to catch ball in front of the robot.
Start driving towards position of goal if ball is caught.
Constantly move camera up and down to look out for goal and check whether ball is still there.
Shoot ball into the goal as soon as goal can be seen.
Goal Keeper:Goal Keeper:using using visionvision
Goal Goal KeeperKeeper
•Drive on circular path
•Always face the ball
Principles and Principles and role of vision in role of vision in soccer, clustering, social robotics, soccer, clustering, social robotics,
etc.etc.Robot soccer system
Intelligent control system
Multi-agent system
Composition of robot soccer system Mobile robots Host computer Vision system Communication
moduleEven the simplest of all systems has many challenges
Control structure
Role level : Determines the roles of each robot. (defender, attacker and goal keeper –
in case of soccer) Action level : Selects actions of each robot. (shooting, blocking, dribbling, etc) Behavior level : Move and obstacle avoidance Execution level : Motor control
Vision versus strategy in group behaviors There is a short
decision path from input to output: subsumption-like architectures
Vision-based system Remote brainless
system Brain-on-board system
Robot-based system
Selection guidelines Developer’s interests Computational capabilities of
host computer and vision system
Capabilities of the robots
Cost
The system can be classified using the location of intelligence
2. Classification of Robot Soccer 2. Classification of Robot Soccer and and similarsimilar group behaviorgroup behavior Systems Systems
Centralized systemSimple and inexpensive Easy to develop the robot No local sensors.Fast computing time
and sampling timeEasy to debug and upgrade the program
2.1.1 Remote-Brainless 2.1.1 Remote-Brainless SystemSystem
High cost vision system and host computer
A type of vision-based system
Intelligent part is implemented in the host computer.
Robots The robots consist of: driving mechanism, communication part, and computational part for velocity and for processing the data
received from a host computer
Host computer All the calculations for vision data processing, strategies, position
control of robots and so on, are done in the host computer which controls robots like radio -controlled car
Continue on Remote-Continue on Remote-Brainless SystemBrainless System
2.1.2 Brain-on-board 2.1.2 Brain-on-board system system
Intermediate level between the centralized and the distributed systems / between the remote-brainless and the robot based systems.
Robots can use local sensors to move to the goal and to avoid the opponent.
Can decompose the system into high level (host computer) and low level (robot systems).
Easy to make the system in
modular form
A type of vision-based system
Intelligence is partially implemented in the host computer and robots.
Robots The robots have functions such as velocity control, position control, obstacle
avoidance, etc.
Host computer The host computer processes vision dataprocesses vision data and calculates next behaviors of robots
according to strategies and sends commands to the robots using RF modem.
Role of Vision
Brain-on-board Brain-on-board system system
2.2 Robot-based system2.2 Robot-based system
Suitable when the large number of agents existComplex and expensiveNeed communication among robots
Distributed system
Intelligent part is implemented in the robots.
Robots The robots decide their own behavior autonomously using the
received vision data, own sensor data and strategies.
Host computerThe host computer processes only vision datacan be considered as a kind of sensor.
Role of Role of visionvision
Robot-based Robot-based systemsystem
System System ComparisonsComparisons
Brain-on-board system
Merits Demerits Research purpose
Robot -based
system
Low cost Easy to
develop
Cannot use local sensors High computing power
& fast sampling time
Suitable for many agents Can use local information
Complex and expensive robots.
Hard to build the system
Suitable to modularize
Risk of inconsistent property between host computer and robot system
Vision system Multi-agent theory
Robot system Multi-agent system
development
Robot-based and vision-based systems
Remote-brainless system
VXD: role of VXD: role of colorcolorInitialization
Click ‘Load VXD’ in the Initialize group box Click ‘Start Grab’
Configuration ‘Load Conf.’: load a configuration file ‘Save Conf.’: save current configuration ‘Set Robot Size’: set the robot size in number of pixels ‘Set Pixel Size’: set the size of each color (ball, team, robot, opponent) patch in number of
pixels ‘Set Boundary’: set the field boundary on the screen ‘Change Color’: change the color setting of each color
patch ‘Set Color’: set the range of tolerance of each color
Subsystems and Subsystems and VisionVision
Serial Port Select the serial communication port
Home Goal Select the home side on the screen
Find Objects Check the box of which you like to find on the field
Initial Position: tell the vision system the initial position
of each object E.g.) for the ball
i) turn on the radio button of ‘Ball’ ii) place the mouse on the ball and press the left button
Repeat above procedure for another object
Commands for Commands for VisionVision
Select Situation The situation in which the game is about to start
Command Click ‘Ready’: the vision system starts finding the
objects on the field
Click ‘Start’ : the vision system starts sending commands
to the robots Click ‘Stop’ : the vision system stops finding objects
and sending commands
4.2 Robot System for robot 4.2 Robot System for robot soccersoccer
Block diagram of the robot
Logic Power
PWM RightPWM Left
MotorDriver
MotorDriver
Motor Motor
VoltageRegulator
MotorPower
Micro-Controller
Battery
Communication Signal
CommunicationModule
Motor Part
4.3 Communication (Infra-red) for 4.3 Communication (Infra-red) for robot soccerrobot soccer
Infra-red Communication
Four transmitters are used to cover the whole field
t
Transmitter
Receiver
t
r, : View angle
r
130cm0,0cm
35cm,35cm
15
0cm
X
Y
35cm,95cm
115cm,35cm 115cm,95cm
Transmitter shared by both Transmitter shared by both teamsteams
Both teams share the same transmitter via a mediator
Communication Packet
Three 0xFFs: the start of a packet 0x0F (0xF0): Team A (Team B) VLi , VRi: left and right wheel velocity of robot i 0xAA: end of velocity data of each robot
0xFF 0xFF 0xFF 0x0F 0xAA 0xAA 0xAA1LV 1RV 2LV 3LV2RV 3RV
TransmitterPC 1 (Team A) PC 2 (Team B)
Infra-redmodule
3.2 Foraging and Clustering3.2 Foraging and ClusteringThere are many similar robot applications to robot soccer:
A number of objects are scattered in the driving area objects can be colored or otherwise marked for detection e.g. colored cubes or cans
The robot’s task is to collect all objects
either by bringing them all to a certain location e.g. home location → foraging
or by moving it to the position that already has the largest object density → clustering Role of VisionRole of Vision
ClusteringClustering
Clustering phenomenon
Can be observed in nature: TermitesGood example for “emergent behavior”
simple local behavior complex results
Can be executed by single or multiple robots
Has been used in simulation as well as in real robot demonstrations
ClusteringClustering
Online ReferencesOnline References
http://www.robocup.orghttp://www.robocup2000.orghttp://world.sony.com/dream/robocup/robocup2000/http://robomec.cs.kobe-u.ac.jp/robocup-rescue/http://www.artificialia.com/RoboCupJr/http://www.namultimedia.com/robocup/http://parrotfish.coral.cs.cmu.edu/robocup-small/http://owl.informatik.uni-ulm.de/ROBOCUP/
ProblemsProblems
1. Propose other robot sports in addition to soccer and sumo. Wrestling? Volleyball? Fencing? Write the rules and design a robot to play them. What will be technical and what will be the scientific challenge.
2. Design the rules for walking robots playing soccer. Design the field. How to control the camera. Do we need sensors and for what? Where are they located?
3. Explain the differences between various types of vision systems used in robot soccer.
ProblemsProblems
1. Propose other robot sports in addition to soccer and sumo. Wrestling? Volleyball? Fencing? Write the rules and design a robot to play them. What will be technical and what will be the scientific challenge.
2. Design the rules for walking robots playing soccer. Design the field. How to control the camera. Do we need sensors and for what? Where are they located?
3. Explain the differences between various types of vision systems used in robot soccer.
ProblemsProblems4. What are the scientific goals of robot soccer?
What robot soccer contributed already to robotics?
5. What is AI? What is Turing Test? Invent variants of Turing Test to test other robot’s abilities than leading a meaningful conversation.
6. Give example of robot foraging.7. Give example of robot clustering.8. How to use agents to implement robot
foraging and clustering.9. Sensors used in robot soccer.
ProblemsProblems10. Present the line-based color detection
scheme for soccer robots. 11. Distance Estimation for Soccer Robots 12. Driving Routines for Soccer Robots13. Splines and other methods for driving14.Trajectory planning for soccer robots.15.Vision system for a mobile robot playing
soccer.16.Communication system for a soccer robot.17.Obstacle avoidance for robot soccer18.Team playing strategies for robot soccer.