robocup introduction

ROBOCUP

A TESTING ENVIRONMENT FOR MULTI AGENT SYSTEMS

Hannes Schulz

University of Osnabrück, Department of Cognitive Science

December 13th 2005

OUTLINE

1 WHAT IS ROBOCUP?

Soccer as a Research Field?

The RoboCup Foundation

2 SELECTED LEAGUES

2D Simulation League


Midsize League

Various others

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

50-YEAR-CHALLENGES I

50 years from Wright Brother’s 1st aircraft toApollo mission sending man to moon

Hannes Schulz RoboCup


50-YEAR-CHALLENGES II

50 years from invention of digital computer to Deep Blue



50-YEAR-CHALLENGES III?



SOCCER– A NEW TOY PROBLEM FORAI

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


OUTLINE

1 WHAT IS ROBOCUP?



2 SELECTED LEAGUES



Midsize League

Various others


ROBOCUP FOUNDATION

International joint project for AI/related fields

Fosters research by providing standard problem

Aims at innovations to be “applied to socially significantproblems and industries”



THE V ISION

By 2050, develop a team of fully autonomoushumanoid robots that can win against the humanworld champion team in soccer.



THREE AREAS

RoboCup Soccer(Challenge)

Simulation (2D+3D)

Small Size

Middle Size

Sony Aibo

Humanoid

RoboCup Rescue(Application)

Rescue Simulation

Rescue Robot

RoboCup Junior(Education)

Soccer Challenge

Dance Challenge

Rescue Challenge


OUTLINE

1 WHAT IS ROBOCUP?



2 SELECTED LEAGUES



Midsize League

Various others

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

A PLAYER DESCRIPTION

Kick RadiusPlayer RadiusBody AngleNeck Angle Players vary in:

Speed inc

Kick radius

Kick randomization

Stamina recoverytime

. . .



POSSIBLEACTIONS IN A CYCLE

(Neck Turn)

Turn

Dash

Kick

Tackle



“PHYSICS” OF DASHING

pos before dash

dash

velocity

resulting pos

Additionaly:

Dash command is exposedto noise

Player stamina isdecreased

Stamina recovers slowly, iftoo low:

permanent player damage



THE V IEW MODEL

α

See updates every 150 ms.Fewer see updates for:

high quality view

wide view angle

With distance

Player numbers blur

Player team affiliations blur

Player positions blur(logarithmically)



THE SOCCER FIELDGEOMETRY AND FLAGS

(52,34)

(-52,-34)

(0,0)

2x11 agents play for 2x5 minutes on real sized soccer field



THE BRAINSTORMERSAGENTE

nviro

nmen

t

World

Module

Module

Model

Decision Module

TacticsSkills Module

Kick Move

Intercept Move

Dribble Move


OUTLINE

1 WHAT IS ROBOCUP?



2 SELECTED LEAGUES



Midsize League

Various others


THE 3D AGENTA SNAPSHOT OF THEEARLY YEAR 2005

Spherical agent

Omnivision

Kicks only away from body

Can drive in any direction

Battery discharges duringdashing/kicking

Physics simulation involvescollision, acceleration,. . .

◮ It’s like today’s robots!



MORE RULES?

Similar to 2D:

2x5 minutes

2x11 agents

real sized soccer field

. . . but. . .

Relaxed rules in 3D league:

No offside

No jumping (→ low goals)

Battery very powerful

Kick in all directionspossible

◮ Room for yearly improvement



GAME SCREENSHOT


OUTLINE

1 WHAT IS ROBOCUP?



2 SELECTED LEAGUES



Midsize League

Various others


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 ballwhen. . . (“Discussion League”)



BRAINSTORMERS– FRONT V IEW



WHEELS AND BASE



CONTROL STRUCTURE

Control Loop

User Interface Communication

Robot Access Player Behavior Image Processing

World Model

Con

trol

Laye

rC

ompo

nent

Laye

r

Data Layer

Library Layer

data structs for info exchange

general algorithms (i.e. geometric)



TIME C(O)URSE



SELF LOCALIZATION I



SELF LOCALIZATION II


OUTLINE

1 WHAT IS ROBOCUP?



2 SELECTED LEAGUES



Midsize League

Various others


SMALL SIZE LEAGUE

Overview



HUMANOID LEAGUE

Overview



SONY A IBO (“FOUR-LEGGED”) L EAGUE

Overview



SUMMARY

RoboCup provides toy problem for robotics/AI

RoboCup facilitates research by competition

Different Leagues approach vision of robotic soccer teamfrom different view points


robocup introduction

Technology

moonhannes schulz robocup

robocup foundation robo

robocup foundation t

robocup foundation s

deep bluehannes schulz

selected leagues soccer

research field

s elected