Using Hierarchical Dynamical Systems to Control Reactive Behavior

Behnke, Sven; Frötschl, Bernhard; Rojas, Raúl; Ackers, Peter; Lindstrot, Wolf; Melo, Manuel de; Schebesch, Andreas; Simon, Mark; Sprengel, Martin; Tenchio, Oliver

doi:10.1007/3-540-45327-x_14

Cited by 16 publications

(8 citation statements)

References 3 publications

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“…The central PC then sends these commands via a wireless communication link to the robots. The hierarchical reactive behavior control system of the FU-Fighters team is described in [2].…”

Section: System Architecturementioning

confidence: 99%

Predicting Away Robot Control Latency

Behnke

Egorova

Gloye

et al. 2004

Lecture Notes in Computer Science

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Abstract. This paper describes a method to reduce the effects of the system immanent delay when tracking and controlling fast moving robots using a fixed video camera as sensor. The robots are driven by a computer with access to the video signal. The paper explains how we cope with system latency by predicting the movement of our robots using linear models and neural networks. We use past positions and orientations of the robot for the prediction, as well as the most recent commands sent. The setting used for our experiments is the same used in the small-size league of the RoboCup competition. We have successfully field-tested our predictors at several RoboCup events with our FU-Fighters team. Our results show that path prediction can significantly improve speed and accuracy of robotic play.

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“…The central PC then sends these commands via a wireless communication link to the robots. The hierarchical reactive behavior control system of the FU-Fighters team is described in [2].…”

Section: System Architecturementioning

confidence: 99%

Predicting Away Robot Control Latency

Behnke

Egorova

Gloye

et al. 2004

Lecture Notes in Computer Science

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“…This problem has been studied extensively within the RoboCup robot soccer community [3,9,10]. We can categorize these different approaches based on the actuation mechanism into: pneumatic, spring, motor, and solenoid based kickers.…”

Section: Robot Hardwarementioning

confidence: 99%

Development of a soccer-playing dynamically-balancing mobile robot

Browning

Rybski

Searock

et al. 2004

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

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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.

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“…[1] The shaft of the paddle wheel is connected to a DC motor. The angular velocity of the paddle wheel determines the end velocity of the ball, although there is great variability due to the potential variation in the contact point.…”

Section: Rotating Plate Mechanismsmentioning

confidence: 99%

Segway CMBalance Robot Soccer Player

Searock¹,

Browning²,

Veloso³

2004

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Keywords: games, mobile manipulation, mobile robots AbstractThe Segway™ LLC company has provided a robust mobility platform on which to research human/robot coordination in an adversarial environment. 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 Human Transporter capable of being programmed for autonomous operation. With these platforms, human/robot coordination is being investigated through the competitive game, Segway Soccer. The game is played between robots (RMPs) and humans (riding HTs), who can be teammates or opponents. The rules of the game are a combination of soccer and ultimate Frisbee rules. This paper describes the design of the mechanical systems necessary to allow the Segway RMP to safely and effectively play a competitive game of Segway Soccer along with humans. Specifically, the challenge of designing a soccer ball manipulation/kicking system is described in depth.

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Using Hierarchical Dynamical Systems to Control Reactive Behavior

Cited by 16 publications

References 3 publications

Predicting Away Robot Control Latency

Predicting Away Robot Control Latency

Development of a soccer-playing dynamically-balancing mobile robot

Segway CMBalance Robot Soccer Player

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