ROBO C UP
A T ESTING E NVIRONMENT FOR M ULTI AGENT S YSTEMS


                      Hannes Schulz

     University of Osna...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


50-Y EAR -C HALLENGES I




     ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


50-Y EAR -C HALLENGES II




    ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


50-Y EAR -C HALLENGES III?




  ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


S OCCER – A N EW T OY P ROBLEM FO...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


ROBO C UP F OUNDATION



     Int...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


T HE V ISION




         By 2050...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


T HREE A REAS


  RoboCup Soccer ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


T HREE A REAS


  RoboCup Soccer ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


T HREE A REAS


  RoboCup Soccer ...
What is RoboCup? Selected Leagues   Soccer as a Research Field? The RoboCup Foundation


T HREE A REAS


  RoboCup Soccer ...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


A P LAYER D ESCRIPTION


  ...
What is RoboCup? Selected Leagues    2D Simulation League 3D Simulation League Midsize League


P OSSIBLE ACTIONS IN A C Y...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


“P HYSICS ” OF DASHING

  p...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


T HE V IEW M ODEL


       ...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


T HE S OCCER FIELD
G EOMETR...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


T HE B RAINSTORMERS AGENT

...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues    2D Simulation League 3D Simulation League Midsize League


T HE 3D AGENT
A S NAPSHOT ...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


M ORE RULES ?


  Similar t...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


M ORE RULES ?


  Similar t...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


M ORE RULES ?


  Similar t...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


G AME S CREENSHOT




     ...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


RULES



    Field Size 6x1...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


B RAINSTORMERS – F RONT V I...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


W HEELS AND BASE




      ...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


C ONTROL S TRUCTURE
   Cont...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


T IME C( O ) URSE




     ...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


S ELF L OCALIZATION I




 ...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


S ELF L OCALIZATION II




...
O UTLINE


  1   W HAT IS ROBO C UP ?
        Soccer as a Research Field?
        The RoboCup Foundation


  2   S ELECTED...
What is RoboCup? Selected Leagues    2D Simulation League 3D Simulation League Midsize League


S MALL S IZE L EAGUE




 ...
What is RoboCup? Selected Leagues    2D Simulation League 3D Simulation League Midsize League


H UMANOID L EAGUE




    ...
What is RoboCup? Selected Leagues    2D Simulation League 3D Simulation League Midsize League


S ONY A IBO (“F OUR -L EGG...
What is RoboCup? Selected Leagues   2D Simulation League 3D Simulation League Midsize League


S UMMARY




    RoboCup pr...
Upcoming SlideShare
Loading in …5
×

RoboCup Introduction

2,782
-1

Published on

Short Introduction to RoboCup and its leagues, with focus on 2D and midsize. The teams from Osnabrück, Germany are introduced.

Published in: Technology, Sports
0 Comments
2 Likes
Statistics
Notes
  • Be the first to comment

No Downloads
Views
Total Views
2,782
On Slideshare
0
From Embeds
0
Number of Embeds
3
Actions
Shares
0
Downloads
78
Comments
0
Likes
2
Embeds 0
No embeds

No notes for slide

RoboCup Introduction

  1. 1. ROBO C UP A T ESTING E NVIRONMENT FOR M ULTI AGENT S YSTEMS Hannes Schulz University of Osnabrück, Department of Cognitive Science December 13th 2005
  2. 2. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  3. 3. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  4. 4. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation 50-Y EAR -C HALLENGES I 50 years from Wright Brother’s 1st aircraft to Apollo mission sending man to moon Hannes Schulz RoboCup
  5. 5. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation 50-Y EAR -C HALLENGES II 50 years from invention of digital computer to Deep Blue Hannes Schulz RoboCup
  6. 6. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation 50-Y EAR -C HALLENGES III? Hannes Schulz RoboCup
  7. 7. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation S OCCER – A N EW T OY P ROBLEM FOR AI Chess Soccer Environment static dynamic Available Infos complete incomplete Sensor Readings symbolic non-symbolic Control central distributed Physical Agent no yes Time Critical not really yes Hannes Schulz RoboCup
  8. 8. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  9. 9. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation ROBO C UP F OUNDATION International joint project for AI/related fields Fosters research by providing standard problem Aims at innovations to be “applied to socially significant problems and industries” Hannes Schulz RoboCup
  10. 10. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation T HE V ISION By 2050, develop a team of fully autonomous humanoid robots that can win against the human world champion team in soccer. Hannes Schulz RoboCup
  11. 11. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation T HREE A REAS RoboCup Soccer RoboCup Rescue (Challenge) (Application) Rescue Simulation Simulation (2D+3D) Rescue Robot Small Size RoboCup Junior Middle Size (Education) Sony Aibo Soccer Challenge Dance Challenge Humanoid Rescue Challenge Hannes Schulz RoboCup
  12. 12. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation T HREE A REAS RoboCup Soccer RoboCup Rescue (Challenge) (Application) Rescue Simulation Simulation (2D+3D) Rescue Robot Small Size RoboCup Junior Middle Size (Education) Sony Aibo Soccer Challenge Dance Challenge Humanoid Rescue Challenge Hannes Schulz RoboCup
  13. 13. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation T HREE A REAS RoboCup Soccer RoboCup Rescue (Challenge) (Application) Rescue Simulation Simulation (2D+3D) Rescue Robot Small Size RoboCup Junior Middle Size (Education) Sony Aibo Soccer Challenge Dance Challenge Humanoid Rescue Challenge Hannes Schulz RoboCup
  14. 14. What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation T HREE A REAS RoboCup Soccer RoboCup Rescue (Challenge) (Application) Rescue Simulation Simulation (2D+3D) Rescue Robot Small Size RoboCup Junior Middle Size (Education) Sony Aibo Soccer Challenge Dance Challenge Humanoid Rescue Challenge Hannes Schulz RoboCup
  15. 15. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  16. 16. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League A P LAYER D ESCRIPTION Neck Angle Players vary in: Body Angle Speed inc Player Radius Kick radius Kick Radius Kick randomization Stamina recovery time ... Hannes Schulz RoboCup
  17. 17. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League P OSSIBLE ACTIONS IN A C YCLE (Neck Turn) Turn Dash Kick Tackle Hannes Schulz RoboCup
  18. 18. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League “P HYSICS ” OF DASHING pos before dash Additionaly: dash Dash command is exposed resulting pos to noise Player stamina is decreased Stamina recovers slowly, if velocity too low: permanent player damage Hannes Schulz RoboCup
  19. 19. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T HE V IEW M ODEL See updates every 150 ms. Fewer see updates for: high quality view wide view angle With distance Player numbers blur α Player team affiliations blur Player positions blur (logarithmically) Hannes Schulz RoboCup
  20. 20. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T HE S OCCER FIELD G EOMETRY AND F LAGS (52,34) (0,0) (-52,-34) 2x11 agents play for 2x5 minutes on real sized soccer field Hannes Schulz RoboCup
  21. 21. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T HE B RAINSTORMERS AGENT Decision Module Skills Module World Tactics Environment Model Module Kick Move Module Intercept Move Dribble Move Hannes Schulz RoboCup
  22. 22. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  23. 23. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T HE 3D AGENT A S NAPSHOT OF THE E ARLY Y EAR 2005 Spherical agent Omnivision Kicks only away from body Can drive in any direction Battery discharges during dashing/kicking Physics simulation involves collision, acceleration,. . . ◮ It’s like today’s robots! Hannes Schulz RoboCup
  24. 24. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League M ORE RULES ? Similar to 2D: Relaxed rules in 3D league: 2x5 minutes No offside 2x11 agents No jumping (→ low goals) Battery very powerful real sized soccer field Kick in all directions . . . but. . . possible ◮ Room for yearly improvement Hannes Schulz RoboCup
  25. 25. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League M ORE RULES ? Similar to 2D: Relaxed rules in 3D league: 2x5 minutes No offside 2x11 agents No jumping (→ low goals) Battery very powerful real sized soccer field Kick in all directions . . . but. . . possible ◮ Room for yearly improvement Hannes Schulz RoboCup
  26. 26. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League M ORE RULES ? Similar to 2D: Relaxed rules in 3D league: 2x5 minutes No offside 2x11 agents No jumping (→ low goals) Battery very powerful real sized soccer field Kick in all directions . . . but. . . possible ◮ Room for yearly improvement Hannes Schulz RoboCup
  27. 27. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League G AME S CREENSHOT Hannes Schulz RoboCup
  28. 28. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  29. 29. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League RULES Field Size 6x12m, varying Agents: ground surface area/weight restrictions 4-6 Agents/Team WLAN, but no remote control except for referee commands 2x10 min per game ◮ Lots of rules about colors, which player can go to the ball when. . . (“Discussion League”) Hannes Schulz RoboCup
  30. 30. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League B RAINSTORMERS – F RONT V IEW Hannes Schulz RoboCup
  31. 31. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League W HEELS AND BASE Hannes Schulz RoboCup
  32. 32. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League C ONTROL S TRUCTURE Control Layer Control Loop User Interface Communication Component Layer Robot Access Player Behavior Image Processing World Model Data Layer data structs for info exchange Library Layer general algorithms (i.e. geometric) Hannes Schulz RoboCup
  33. 33. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T IME C( O ) URSE Hannes Schulz RoboCup
  34. 34. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S ELF L OCALIZATION I Hannes Schulz RoboCup
  35. 35. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S ELF L OCALIZATION II Hannes Schulz RoboCup
  36. 36. O UTLINE 1 W HAT IS ROBO C UP ? Soccer as a Research Field? The RoboCup Foundation 2 S ELECTED L EAGUES 2D Simulation League 3D Simulation League Midsize League Various others
  37. 37. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S MALL S IZE L EAGUE Overview Hannes Schulz RoboCup
  38. 38. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League H UMANOID L EAGUE Overview Hannes Schulz RoboCup
  39. 39. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S ONY A IBO (“F OUR -L EGGED ”) L EAGUE Overview Hannes Schulz RoboCup
  40. 40. What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S UMMARY RoboCup provides toy problem for robotics/AI RoboCup facilitates research by competition Different Leagues approach vision of robotic soccer team from different view points Hannes Schulz RoboCup
  1. A particular slide catching your eye?

    Clipping is a handy way to collect important slides you want to go back to later.

×