World Model implementation & resultsWorkshop Stuttgart, 5/6 November 2009

Rob Janssen

Why World Model?

Before WM:

- knowledge acquired locally

(little communication)

- no consensus on environment

- no team play (only role-tasks)

With WM:

- share knowledge of environment

- agree on own/opponent/ball positions

- allows for passing, avoidance etc..

Features World Model

• Cluster shared information

• Provide consensus

• Run in real-time

But..

• Reliable communication necessary (multicastpacket loss, delay)

Local World Model

• Omnivision (segment black blobs)

Local World ModelClustering blobs (Schubert & Sidenbladh 2005)

For each report:-Generate hypotheses-Propagate objects in hypotheses (linear Kalman)-Update likelihood (compare report with objects)-Prune hypotheses tree-MAPE (obtain hypothesis with highest probability)

Local World Model

Local opponents

send to World Model

Local/Global World Model

Global World Model

Same as local world model

Except:

- Labeling added

- Label consistency with switching hypotheses

- Agent ID overrules label

- Agent position overrules clustered object position

Result

WK Graz Cambada 2nd half

Validation

1) Topcamera above field

2) Match 3vs3

Future work

- Ball: Non-linear observer

not yet implemented

Locally obtained/communicated

- Strategic learning

- Improve communication!!

Questions