An Overview of RoboCup 2002 Fukuoka/Busan

Proceedings of the Institution of Mechanical Engineers, Part I:

Bruce

Bowling

et al. 2005

In an adversarial multi-robot task, such as playing robot soccer, decisions for team and single robot behavior must be made quickly to take advantage of short-term fortuitous events when they occur. When no such opportunities exist, the team must execute sequences of coordinated action across team members that increases the likelihood of future opportunities. We have developed a hierarchical architecture, called STP, to control an autonomous team of robots operating in an adversarial environment. STP consists of Skills for executing the low-level actions that make up robot behavior, Tactics for determining what skills to execute, and Plays for coordinating synchronized activity amongst team members. Our STP architecture combines each of these components to achieve autonomous team control. Moreover, the STP hierarchy allows for fast team response in adversarial environments while carrying out actions with longer goals. In this article, we present our STP architecture for controlling an autonomous robot team in a dynamic adversarial task that allows for coordinated team activity towards long-term goals, with the ability to respond rapidly to dynamic events. Secondly, we present the sub-component of skills and tactics as a generalized, single-robot control hierarchy for hierarchical problem decomposition with flexible control policy implementation and reuse. Thirdly, we contribute our play techniques as a generalized method for encoding and synchronizing team behavior, providing multiple competing team responses, and for supporting effective strategy adaptation against opponent teams. STP has been fully implemented on a robot platform and thoroughly tested against a variety of unknown opponent teams under in a number of RoboCup robot soccer competitions. We present these competition results as a mechanism to analyze the performance of STP in a real setting.

Section: Small-size Robocup Robot Soccer Leaguementioning

confidence: 99%

Section: Small-size Robocup Robot Soccer Leaguementioning

confidence: 99%

STP: Skills, tactics, and plays for multi-robot control in adversarial environments

Proceedings of the Institution of Mechanical Engineers, Part I:

Bruce

Bowling

et al. 2005

“…With the inception of RoboCup robot soccer [7], multiagent team coordination within an adversarial environment has been studied extensively. But, the dual topic of human-robot coordination in an adversarial environment has yet to be investigated.…”

Section: Introductionmentioning

confidence: 99%

Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots

Searock

RoboCup 2004: Robot Soccer World Cup VIII

Veloso

2005

Abstract. The Segway Human Transport (HT) is a one person dynamically self-balancing transportation vehicle. The Segway Robot Mobility Platform (RMP) is a modification of the HT capable of being commanded by a computer for autonomous operation. With these platforms, we propose a new domain for human-robot coordination through a competitive game: Segway Soccer. The players include robots (RMPs) and humans (riding HTs). The rules of the game are a combination of soccer and Ultimate Frisbee rules. In this paper, we provide three contributions. First, we describe our proposed Segway Soccer domain. Second, we examine the capabilities and limitations of the Segway and the mechanical systems necessary to create a robot Segway Soccer Player. Third, we provide a detailed analysis of several ball manipulation/kicking systems and the implementation results of the CM-RMP pneumatic ball manipulation system.

“…Additionally, since the inception of RoboCup robot soccer [2], there has been considerable research into multi-robot teams operating in adversarial environments. To our knowledge, however, there has been no work to date that combines these attributes; namely, to examine human-robot interaction within an adversarial, multi-robot setting where humans and robots are team members with similar capabilities and no clear role hierarchy.…”

Section: Introductionmentioning

confidence: 99%

Development of a soccer-playing dynamically-balancing mobile robot

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

Rybski

Searock

et al. 2004

Abstract-In this paper, we make two contributions. First, we present a new domain, called Segway Soccer, for investigating the coordination of dynamically formed, mixed human-robot teams within the realm of a team task that requires real-time decision making and response. Segway Soccer is a game of soccer between two teams consisting of Segway riding humans and Segway RMP-based robots. We believe Segway Soccer is the first game involving both humans and robots in cooperative roles and with similar capabilities. In conjunction with this new domain, we present our work towards developing a soccer playing robot using the Segway RMP platform and vision as its primary sensing modality. As Segway Soccer is set in the outdoors, we have developed novel vision algorithms to adapt to changes in lighting conditions. We present the domain of Segway Soccer, its inherent challenges, and our work towards this goal.