Hardware and Software Aspects of the Design and Assembly of a New Humanoid Robot for RoboCup Soccer

Perico, Danilo H.; Silva, Isaac J.; Vilao, Claudio O.; Homem, Thiago Pedro Donadon; Destro, Ricardo C.; Tonidandel, Flavio; Bianchi, Reinaldo A. C.

doi:10.1109/sbr.lars.robocontrol.2014.39

Cited by 12 publications

(5 citation statements)

References 9 publications

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“…Both simulation and real robot experiments were conducted using a software developed with the purpose of enabling the reproduction of experiments and performance comparison of different algorithms: the RoboFEI Humanoid Soccer Simulator. This software uses the Cross architecture described in Perico et al [29], which is based on low-level tasks, such as vision, control and communication processes, allowing users to develop and test high-level decision-making algorithms in simulation and transfer them to real robots without the need of much software modifications.…”

Section: Robofei Humanoid Soccer Simulatormentioning

confidence: 99%

Retrieving and reusing qualitative cases: An application in humanoid-robot soccer

Homem

Perico

Santos

et al. 2017

AIC

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This paper proposes a new Case-Based Reasoning (CBR) approach, named Q-CBR, that uses a Qualitative Spatial Reasoning theory to model, retrieve and reuse cases by means of spatial relations. Qualitative relations between objects, represented in terms of the EOPRA formalism, are stored as qualitative cases that are applied in the definition of new retrieval and reuse algorithms. The retrieval algorithm uses a Conceptual Neighborhood Diagram to compute the similarity between a new problem and the cases in the case base, and to select the most similar case. The reuse algorithm uses a composition algorithm to calculate the adapted position of the agents based on their frame of reference. The proposed approach was evaluated on simulation and on real humanoid robots. Results suggest that this proposal is faster than using a quantitative model with numerical similarity measurement such as the Euclidean distance. As a result of running Q-CBR, the robots obtained a higher average number of goals than those obtained when running a metric CBR approach.

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Section: Robofei Humanoid Soccer Simulatormentioning

confidence: 99%

Retrieving and reusing qualitative cases: An application in humanoid-robot soccer

Homem

Perico

Santos

et al. 2017

AIC

View full text Add to dashboard Cite

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“…This simulator uses the Cross architecture described in [22], which implements low-level processes, such as vision, control and communication processes, allowing users to develop and test high-level AI algorithms -as collective strategies or decision-making processes -in simulation. The simulator also facilitates the code to be transferred to real robots without the need of many modifications.…”

Section: Simulation Experimentsmentioning

confidence: 99%

Qualitative Case-Based Reasoning for Humanoid Robot Soccer: A New Retrieval and Reuse Algorithm

Homem

Perico

Santos

et al. 2016

Case-Based Reasoning Research and Development

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Abstract. This paper proposes a new Case-Based Reasoning (CBR) approach, named Q-CBR, that uses a Qualitative Spatial Reasoning theory to model, retrieve and reuse cases by means of spatial relations. A qualitative distance and orientation calculus (EOPRA) is used to model cases using qualitative relations between the objects in a case. A new retrieval algorithm is proposed that uses the Conceptual Neighborhood Diagram to compute the similarity measure between a new problem and the cases in the case base. A reuse algorithm is also introduced that selects the most similar case and shares it with other agents, based on their qualitative position. The proposed approach was evaluated on simulation and on real humanoid robots. Preliminary results suggest that the proposed approach is faster than using a quantitative model and other similarity measure such as the Euclidean distance. As a result of running Q-CBR, the robots obtained a higher average number of goals than those obtained when running a metric CBR approach.

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“…Todos os seus processos são executados em um único computador, incluindo o controle dos motores. Assim, para lidar com a execução de todos os processos necessários -visão, localização, decisão, comunicação, planejamento e controle de movimentos -ao mesmo tempo, uma nova arquitetura híbrida de software foi proposta por Perico et al (2014).…”

Section: Robocupunclassified

“…A Arquitetura em Cruz (PERICO et al, 2014), como foi chamada essa nova arquitetura, pode ser vista na Figura 40, na qual cada caixa da imagem representa um processo completa- …”

Section: Robocupunclassified

Navegação guiada de um agente autônomo por meio de relações projetivas obtidas por múltiplas perspectivas espaciais

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Hardware and Software Aspects of the Design and Assembly of a New Humanoid Robot for RoboCup Soccer

Cited by 12 publications

References 9 publications

Retrieving and reusing qualitative cases: An application in humanoid-robot soccer

Retrieving and reusing qualitative cases: An application in humanoid-robot soccer

Qualitative Case-Based Reasoning for Humanoid Robot Soccer: A New Retrieval and Reuse Algorithm

Navegação guiada de um agente autônomo por meio de relações projetivas obtidas por múltiplas perspectivas espaciais

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