welcome to our presentation aibo field localisation (baslamet) woiyl hammoumi vladimir nedovic bayu...

Welcome to our presentation

Aibo field localisation(http://www.science.uva.nl/~baslamet)

Woiyl HammoumiVladimir NedovicBayu SlametRoberto Valenti

February 4th, 2005

RoboCupRoboCup4-Legged LeagueCode Overview

New Rules 2005Playing Field 2004Playing Field 2005

ProblemsProblem AnalysisMonte Carlo

LocalizationBehaviour Control

ObservationsAnalysis

RecommendationsFuture

• International robot soccer World Championship

• July 2005 - Osaka

• ‘By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team’

• Teams have to publish their code after each RoboCup

4-Legged LeagueRoboCup4-Legged

LeagueCode Overview






• Played with Aibo’s• 4 vs 4:

– Goalie– Defensive supporter– Offensive supporter– Striker

• The Dutch Aibo Team – Joint effort of various Dutch

universities– First participated in 2004– Aims for victory in 2005

Code OverviewRoboCup4-Legged LeagueCode Overview






New Rules 2005RoboCup4-Legged LeagueCode Overview






• Increasingly natural soccer playing• Changes for 2005:

– Bigger playing field – White borders are removed– Colored marker poles change location– Introduction of out-ball concept– Robot’s should stay inside the field

• Our project:– Determine problems that will arise – Analyze and document possible

solutions– Implement solutions for DT2005 code

Playing Field 2004RoboCup4-Legged LeagueCode Overview

New Rules 2005Playing Field

2004Playing Field 2005





Playing Field 2005RoboCup4-Legged LeagueCode Overview

New Rules 2005Playing Field 2004Playing Field

2005





Problems RoboCup4-Legged LeagueCode Overview






• Localisation becomes inaccurate– Old field size is hard-programmed in– Marker poles are moved– Extensive usage of white border

• Behavior is based on closed-border field– Bounce effect of borders is used– No awareness of out-ball situations– Robots don’t know they should stay

in the field

Problem AnalysisRoboCup4-Legged LeagueCode Overview


ProblemsProblem

AnalysisMonte Carlo




• What we knew:– Field dimensions are hard-coded in

C++– Field positions and distances are

hard-coded in the behaviour specifications

• What we guessed:– Field dimensions may be hard-

coded or implicitly assumed elsewhere

Monte Carlo LocalizationRoboCup4-Legged LeagueCode Overview






• Based on particle distribution on field– Each particle is a hypothetical pose– Coordinates and orientation

• Particles generated on old field size

Behaviour Control (1)RoboCup4-Legged LeagueCode Overview



LocalizationBehaviour

Control



• Defined using finite state machines– Internal coordination with decision

trees– Based on hard-coded field positions

Behaviour Control (2)RoboCup4-Legged LeagueCode Overview



LocalizationBehaviour

Control



• If robot.pose.x > 300 then ….– Ambiguous interpretation– Common sense / intuition

Observations GT2004RoboCup4-Legged LeagueCode Overview






• GT2004 Aibo does fine– Especially goalie and striker – Robust behaviour– But: with old flag positions

Observations DT2005RoboCup4-Legged LeagueCode Overview






• DT2005 Aibo has some trouble– Does fine until kick-off – After kick-off positioning is incorrect

Analysis (1)RoboCup4-Legged LeagueCode Overview






• Initial positioning is purely based on perception

• With the GT2004 Aibo, all modules are based on the same (old) field dimensions

• The DT2005 Aibo still recieves wrong input from perception modules

• There remain unsolved hard-coded dependencies in the DT2005 Aibo

Analysis (2)RoboCup4-Legged LeagueCode Overview






• Changes in C++ have been checked

• Changes in behaviour as well• We can observe the correctness

in RobotControl

• The problem is elsewhere– Hard-coded dependencies in

Perception modules– Then we ran out of time …

RecommendationsRoboCup4-Legged LeagueCode Overview





Recommendations

Future

• Check Perception modules and their configuration files

• Merge this with our changes in the C++ and behaviour specifications

• Improve behaviour to take out-ball situations into account as well

• And you just might win …!

Future RoboCup4-Legged LeagueCode Overview






• Field specifications are likely to change more often

• Develop a single source for field dimensions – Extend FieldDimensions class to

make it provide all necessary points and distances

– Use this in all Perception modules – Use this in Behaviour module

Questions

Do you have any questions?

welcome to our presentation aibo field localisation (baslamet) woiyl hammoumi vladimir nedovic bayu...

Documents

field slide

field dimensions

problem analysis robocup

code overview robocup

c field positions

problems robocup

legged league robocup

robocup slide