The CMUnited-97 small robot team

Veloso, Manuela; Stone, Peter; Han, Kwun; Achim, Sorin

doi:10.1007/3-540-64473-3_64

Cited by 30 publications

(11 citation statements)

References 3 publications

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“…The most important changes in time involved primarily the increase in field size and the robot design, starting as two wheeled differential control to the current four wheeled omnidirectional drive. Many of the initial challenges in SSL are still current as described by the CMUnited-97 team that won the first SSL competition [6].…”

Section: Pastmentioning

confidence: 99%

RoboCup Small-Size League: Past, Present and Future

Weitzenfeld

Biswas

Akar

et al. 2015

RoboCup 2014: Robot World Cup XVIII

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The Small Size Robot League (SSL) was among the founding RoboCup leagues in the 1997 competition held during IJCAI'97 in Nagoya, Japan. Since then, the league has experienced various advances in terms of robot design, number of robots, field size, software algorithms and other infrastructure used during the games, among these the recent standardization of the vision system shared by all teams. The SSL league has been one of the fastest paced leagues in RoboCup where teamwork, coordination, high-level strategies and artificial intelligence have played a critical role in the league development. As robots speeds have greatly increased in the past years, the league has witnessed the development of advanced control and cooperative algorithms. In parallel, shared open software, in particular the shared vision system has made it easier for new teams to join the league. In this paper we discuss the past, present and future of the Small Size League in its path towards the goal of achieving robot vs. human soccer in 2050.

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Section: Pastmentioning

confidence: 99%

RoboCup Small-Size League: Past, Present and Future

Weitzenfeld

Biswas

Akar

et al. 2015

RoboCup 2014: Robot World Cup XVIII

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“…At first, a control algorithm derived from the CMU approach (Veloso, et al, 1998) was used. It is a reactive approach deriving the left and right wheel speeds from the desired orientation and speed in very frequent intervals.…”

Section: Software and Controlmentioning

confidence: 99%

A DSP-Based Soccer Robot for Fira Mirosot

Klute

Weiss

Schulz

et al. 2005

IFAC Proceedings Volumes

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“…Robotic soccer systems have been recently developed both in simulation [14,23,24] and with real robots [1,9,18,19,27]. The research presented in this paper was first developed in simulation and it has also been successfully used on our real robot team.…”

Section: Implementation In Robotic Soccermentioning

confidence: 99%

“…Nonetheless, the agent control modules are distributed, enabling the use of the same team member architecture, including locker-room agreement and formation structure, as was originally developed in simulation. Our robotic system is described in detail in [27].…”

Section: Formationsmentioning

confidence: 99%

Task Decomposition and Dynamic Role Assignment for Real - Time Strategic Teamwork

Stone

Veloso

1999

Intelligent Agents V: Agents Theories, Architectures, and Languages

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Abstract. Multi-agent domains consisting of teams of agents that need to collaborate in an adversarial environment offer challenging research opportunities. In this paper, we introduce periodic team synchronization domains, as time-critical environments in which agents act autonomously with limited communication, but they can periodically synchronize in a full-communication setting. We present a team agent structure that allows for an agent to capture and reason about team agreements. We achieve collaboration between agents through the introduction of formations. A formation decomposes the task space defining a set of roles. Homogeneous agents can flexibly switch roles within formations, and agents can change formations dynamically, according to pre-defined triggers to be evaluated at run-time. This flexibility increases the performance of the overall team. Our team structure further includes pre-planning for frequent situations. We fully implemented this approach in the domain of robotic soccer. Our simulator team made it to the semi-finals of the RoboCup-97 competition, in which 29 teams participated. It achieved a total score of 67-9 over six different games, and successfully demonstrated its flexible team structure. Using the same team structure, our small robot team won the RoboCup-97 small-robot competition, in which 4 teams participated. It achieved a total score of 13-1 over 4 games and also demonstrated its flexible team structure.

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The CMUnited-97 small robot team

Cited by 30 publications

References 3 publications

RoboCup Small-Size League: Past, Present and Future

RoboCup Small-Size League: Past, Present and Future

A DSP-Based Soccer Robot for Fira Mirosot

Task Decomposition and Dynamic Role Assignment for Real - Time Strategic Teamwork

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