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RoboCup Introduction
 

RoboCup Introduction

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

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

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    RoboCup Introduction RoboCup Introduction Presentation Transcript

    • 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
    • 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
    • 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
    • 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
    • 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
    • What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation 50-Y EAR -C HALLENGES III? Hannes Schulz RoboCup
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League G AME S CREENSHOT Hannes Schulz RoboCup
    • 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
    • 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
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League B RAINSTORMERS – F RONT V IEW Hannes Schulz RoboCup
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League W HEELS AND BASE Hannes Schulz RoboCup
    • 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
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League T IME C( O ) URSE Hannes Schulz RoboCup
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S ELF L OCALIZATION I Hannes Schulz RoboCup
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S ELF L OCALIZATION II Hannes Schulz RoboCup
    • 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
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League S MALL S IZE L EAGUE Overview Hannes Schulz RoboCup
    • What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League H UMANOID L EAGUE Overview Hannes Schulz RoboCup
    • 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
    • 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