Skills, Tactics and Plays for Distributed Multi-robot Control in Adversarial Environments

Koning, Lotte de; Mendoza, Juan Pablo; Veloso, Manuela; Molengraft, René van de

doi:10.1007/978-3-030-00308-1_23

Cited by 11 publications

(10 citation statements)

References 7 publications

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“…Meanwhile, in 2D and 3D Simulation Leagues solving them for more than 10 years. For example, noteworthy approaches with using predefined game strategies were introduced in [3] and [11]. The authors figured out that template attacks increase game quality and developed framework for fast programming such strategies.…”

Section: Related Workmentioning

confidence: 99%

“…Consider two teams of humanoid robots playing football on a plain field sized 6 × 9 meters and covered with 30 mm artificial grass. Each team is composed of the 4 robots with body mass index in the range [3,30] and height under 1 meter 4 . The ultimate aim of a team is to win the game which is achieved via scoring more goals than the opponent.…”

Section: Problem Statementmentioning

confidence: 99%

“…Teams of robots that play football against each other face a wide range of challenging problems: locomotion, path and motion planning, communication, localization, interaction, and many others. The idea of organizing a competition between robots playing football emerged in early 90s of XX century and since them transformed to a global initiative called Robocup with regular tournaments, different leagues and more than 3500 participants representing major universities, research institutes and commercial organizations involved in robotic research 3 . All RoboCup community is united by a big goal -in 2050 the champion of RoboCup Humanoid football competition should be able to play against human champions of FIFA World Cup according to FIFA rules.…”

Section: Introductionmentioning

confidence: 99%

“…Camera-ready version of the paper as to appear in ICR 2020 proceedings 3 For a brief history of Robocup initiative refer to https://www.robocup.org/a brief history of robocup. Nowadays, RoboCup Humanoid football rules is quite simpler than FIFA one.…”

Section: Introductionmentioning

confidence: 99%

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Planning to Score a Goal in Robotic Football with Heuristic Search

Khokhlov¹,

Litvinenko²,

Ryakin³

et al. 2020

Preprint

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This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to find such a trajectory. For this algorithm to be applicable we introduce a discretized model of the environment, i.e. a graph, as well as the core search components: cost function and heuristic function. Both are designed to take into account all the available information of the game state. We extensively evaluate the suggested approach in simulation comparing it to a range of baselines. The result of the conducted evaluation clearly shows the benefit of utilizing heuristic search within the RoboCup context.

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Section: Related Workmentioning

confidence: 99%

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Planning to Score a Goal in Robotic Football with Heuristic Search

Khokhlov¹,

Litvinenko²,

Ryakin³

et al. 2020

Preprint

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“…In MSL, strategy with dynamic role assignment on the soccer robot has also been demonstrated using a finite state machine of attack, defend, and intercept [11]. The strategy commonly used for centrally controlled in SSL robot soccer such as Skills, Tactics, and Plays (STP) has been integrated into MSL robot soccer for distributed control of the robot, performing strategy, and dynamic role assignment [12]. This is also proven to increase the number of goals significantly.…”

Section: Introductionmentioning

confidence: 99%

Advance Attack and Defense Strategy Algorithm With Dynamic Role Assignment for Wheeled Soccer Robot

Dikairono

Setiawardhana

Budiman

et al. 2021

kursor

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Game strategy is one of the most critical parts of winning a soccer robot match and cannot be separated from the cooperation among robots in making movements to score goals. In this paper, a wheeled soccer robot game strategy called advance attack and defense has been developed. The strategy is combined with dynamic role assignment, in which robot can change from an attacker to a defender and vice versa. Defender robots are not only based on defensive area but will always block opposing attacker to score goal. The attack strategy performs a rotational trajectory for attacker robot to overpass opponent robot. This strategy has been proven to increase defense and attack effectiveness. Test results using soccer robot gameplay environment simulator developed by Institut Teknologi Sepuluh Nopember Robot with Intelligent System (IRIS) team show that the advance strategies are superior compared with basic strategies. In 30 matches, the advance dynamic strategy won 80%, drew 6.7%, and obtained the highest goal difference, 85 goals. The test was then verified with the implementation in the IRIS robots and showed the same performance. The developed game algorithms were tested in 2019 Indonesian wheeled soccer robot contest (KRSBI-B) and the IRIS team won the title.

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