EAIA EAIA’2007, Definition of High 2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 1 IEEE ISIE 2007 Definition of High-Level Coordination Techniques for Robotic Teams Luís Paulo Reis [email protected]LIACC – Artificial Intelligence and Computer Science Lab. Faculty of Engineering of the University of Porto Rua Dr. Roberto Frias, s/n 4200-465 Porto, Portugal http://www.fe.up.pt/~lpreis EAIA2007, Definition of High EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 2 Presentation Outline Introduction RoboCup Initiative RoboCup Leagues Simulator – Soccer Server FC Portugal Project Coordination Methodologies and Results Legged Robots Research Areas and Conclusions Introduction | RoboCup | Rob.Leagues | Simulator | FCPortugal | Coordination Meth. | Legged Robots | Conclusions EAIA2007, Definition of High EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 3 Introduction Artificial Intelligence Intelligent Agents Environment and Its Complexity Agent Architectures and Applications Multi-Agent Systems RoboCup Initiative RoboCup Leagues Simulator – Soccer Server FC Portugal Project Coordination Methodologies and Results Legged Robots Research Areas and Conclusions Presentation Outline Introduction | RoboCup | Rob.Leagues | Simulator | FCPortugal | Coordination Meth. | Legged Robots | Conclusions EAIA2007, Definition of High EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 4 Artificial Intelligence Intelligence “Capacity to solve new problems through the use of knowledge” Artificial Intelligence “Science concerned with building intelligent machines, that is, machines that perform tasks that when performed by humans require intelligence” Introduction | RoboCup | Rob.Leagues | Simulator | FCPortugal | Coordination Meth. | Legged Robots | Conclusions EAIA2007, Definition of High EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 5 Autonomous Agents Traditional Definition: “Computational System, situated in a given environment, that has the ability to perceive that environment using sensors and act, in an autonomous way, in that environment using its actuators to fulfill a given function.” ? agent percepts sensors actions effectors environment Introduction | RoboCup | Rob.Leagues | Simulator | FCPortugal | Coordination Meth. | Legged Robots | Conclusions EAIA2007, Definition of High EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, Lisboa Lisboa, Portugal , Portugal 6 Autonomous Agents Information Agent Electronic Commerce Agent Air Traffic Controller Autonomous Pilot Personal Assistant Meeting Scheduler Game Playing Agent Autonomous Robot Introduction | RoboCup | Rob.Leagues | Simulator | FCPortugal | Coordination Meth. | Legged Robots | Conclusions
29
Embed
Definition of High-Level Coordination Techniques for ...lpreis/robo2007/docs/EAIA2007_Coordination.pdf · EAIA2007, Definition of High-Level Coordination Techniques for Robotic Teams,
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
EAIAEAIA’’2007, Definition of High2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal, Portugal
1
IEEE ISIE 2007
Definition of High-Level CoordinationTechniques for Robotic Teams
LIACC – Artificial Intelligence and Computer Science Lab.Faculty of Engineering of the University of Porto
Rua Dr. Roberto Frias, s/n 4200-465 Porto, Portugalhttp://www.fe.up.pt/~lpreis
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 22
Presentation OutlineIntroductionRoboCup InitiativeRoboCup LeaguesSimulator – Soccer ServerFC Portugal ProjectCoordination Methodologies and ResultsLegged RobotsResearch Areas and Conclusions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 33
IntroductionArtificial IntelligenceIntelligent AgentsEnvironment and Its ComplexityAgent Architectures and ApplicationsMulti-Agent Systems
RoboCup InitiativeRoboCup LeaguesSimulator – Soccer ServerFC Portugal ProjectCoordination Methodologies and ResultsLegged RobotsResearch Areas and Conclusions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 44
Artificial IntelligenceIntelligence
“Capacity to solve new problems through the use of knowledge”
Artificial Intelligence“Science concerned with building intelligent machines, that is, machines that perform tasks that when performed by humans require intelligence”
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 55
Autonomous AgentsTraditional Definition:
“Computational System, situated in a given environment, that has the ability to perceivethat environment using sensors and act, in an autonomous way, in that environment using its actuators to fulfill a given function.”
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 66
Autonomous AgentsInformation AgentElectronic Commerce Agent Air Traffic ControllerAutonomous PilotPersonal AssistantMeeting SchedulerGame Playing AgentAutonomous Robot
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 77
Intelligent Agents?!Are these Agents? Are they Intelligent?
Thermostat?Answering Machine?Phone?Pencil?Java or C++ Object?
Intelligence:Is this a binary (yes/no) scale?Is this a continuous scale (0-infinit)?
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 88
Agent RequisitesTraditional definition include to much or leaves “holes”!Requisites:
Perceive its environment (sensors)Decide actions to execute (“think”)Execute actions in environment using its actuatorsCommunicate?Perform a complex function?
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 99
Intelligent AgentsAgent:
Perceive its environment using sensors and executes actions using its actuatorsSensors:
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1010
Agent’s ProprietiesMain Proprieties:
AutonomyPro-ActivityReactivitySocial Ability
Other Proprieties:MobilityTruth and BenevolenceKnowledge and BelievesIntentions, ObligationsRationalityIntelligenceLearningTemporal ContinuityCharacter
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1111
Agents vs. ObjectsEssential Differences:
Agents decide what to doObject methods are called externallyAgents react to sensors and control actuators
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1212
Agent ArchitecturesPhysical Agents vs. Software AgentsAgent’s Structure:
Simples Reflex Agents (reactive) Agents with world representationAgents Based on ObjectivesAgents Based on UtilityBDI Agent – Believes, Desires and IntentionsAgents with complex architectures(learning, decision, planning, cooperation, etc.)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1313
Agent ArchitecturesCharacteristics:
Simplicity FunctionalityExpansibility Portability
Types:DeliberativeReactiveHybrid
Difficult to Balance:ReactivityDeliberationSociability
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1414
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1515
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1616
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1717
EnvironmentAccessible vs. InaccessibleStatic vs. DynamicDiscrete vs. ContinuousDeterministic vs. Non DeterministicSingle Agent vs. Multi-Agent
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1818
Multi-Agent System (MAS)Composed by multiple agentsthat:
Exhibit autonomous behaviorInteract with the other agents in the system
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 1919
MAS MotivationProblem DimensionsLegacy SystemsNatural Solution (distributed problems)Distributed knowledge or informationHuman-machine interfaceProject Clarity and simplicityEfficiencyRobustness and ScalabilityProblem divisionInformation privacy
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2020
Agents and Multi-Agent SystemsTo build individual autonomous intelligent agents is importantHowever:
Agents don’t leave alone…Necessary to work in groupMulti-Agent ApplicationsRobotic Agents: Body, complex environmentCoordination in necessary: “to work in harmony in a group”
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2121
Reasons for CoordinationDependencies in agent actionsNeed to respect global constraintsNo agent, individually has enough resources, information or capacity to execute the task or solve the complete problemEfficiency:
Information exchange or tasks divisionPrevent anarchy and chaos:
Partial vision, lack of authority, conflicts, agent’s interactions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2222
Cooperative vs Competitive MAS
Cooperative MAS:Usually projected by a single entityGlobal utility and global performance
Competitive MAS (“self-interested agents”): Each agent has a distinct designerAgents have their own motivation and agendaAgents are interested in their own utility Usual in negotiation, electronic commerce, internet
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2323
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2424
RoboCupObjectives of the RoboCup Initiative
Joint International Project: (Distributed) Artificial IntelligenceIntelligent Robotics
Soccer – Central Research Topic:Very complex collective gameHuge amount of technologies involved:
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2525
RoboCup Objectives of the RoboCup InitiativeMain Goal of the RoboCup Initiative:
“By 2050, develop a team of fully autonomous humanoid robots that may win against the human world champion team in soccer!”
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2626
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2727
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2828
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 2929
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3030
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3131
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3232
RoboCup 2002 – Fukuoka Dome1500 Researchers and over 150000 spectators
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3333
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3434
RoboCup Leagues Simulation League 2D
Virtual Robots (software agents)105*68m Virtual FieldAgents controlled by different computers (or processes)Simulator sends perception and receives actions from agentsTeams of 11 players plus a coach
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3535
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3636
RoboCup Leagues Simulation League
Most Significant Teams:FC Portugal (Portugal) – Univ. of Porto and Aveiro
Tactics, Formations, RolesFlexible Teamwork, Configurable StrategyStrategic vs Active BehaviorSBSP - Situation Based Strategic PositioningDPRE - Dynamic Positioning and Role ExchangeADVCOM and SLM - Strategic Looking MechanismVisual DebuggerCoach UnilangRelease of FCPAgent Source Code
UVA Trilearn (Holland)Coordination GraphsRelease of UVA Source Code
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3737
RoboCup Leagues Simulation League
Most Significant Teams:CMUnited (USA) - Carnegie Mellon University
Formations, SPAR and RolesLayered LearningRelease of the low-level Source Code
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3838
RoboCup Leagues Simulation 3D League
Started in 2004Objectives of 3D Simulation:
Replace the 2D environment of previous simulator with a 3D environmentNew, more realistic, physics modelSimulation results should not be dependent on available computational power or on the quality of network resources
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 3939
RoboCup Leagues Simulation 3D League
Complexities fromreal robotsThird dimensionadds complexityFuture evolution to legged andhumanoid robots
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4040
RoboCup Leagues Simulation 3D League
Humanoids startingin 2007Very realistic physics2 vs 2 games
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4141
RoboCup Leagues Microsoft Robotics Soccer Challenge
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4242
RoboCup Leagues Physical Visualization League
two step motors (1), a li-ion battery (2), a control board (8bit PIC18 processor) (3), Infrared Sensor (4) to receive its commands and aluminium body (5)
Augmented reality setupSmall real robots, Eco-Bes, play soccer on top of a virtual field with a virtual ballSeveral research challenges included:
Vision Based Self Localization, Data Fusion, Real-Time Control, Decision and Cooperation
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4343
Camera is calibrated to recognize the field and the robots’ markers.Each robot identified by an individual marker recognized by the vision systemServer application responsible to control socket connections with clients, monitor, camera and communication with infrared USB transmitter. Server, compiles all information and, sends relative positions of all elements in the fieldMonitor application uses the same information to draw the field and project it and shows the virtual ball
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4444
Microscopic robots that compete against each other in soccer-related agility challenges Robots measure a few tens of micrometers to a few hundred micrometersMasses ranging from a few nanograms to a few hundred nanogramsPlaying field is a set of insulated interdigitatedelectrodes, across which an AC waveform can be applied
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4545
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4646
RoboCup Leagues Small-Size League
15cm RobotsField of 4*3m tableRobots controlled by radio by a single remote computerVision given by a camera placed on top of the fieldTeams of 5 Robots
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4747
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4848
RoboCup Leagues Small-Size League
Most Significant TeamsCornell (USA) - Cornell University
Omni directional driveDribbling mechanismTrajectory generationCooperation mechanisms: Roles, Passes
Fu-Fighters (Germany) - University of BerlinPowerful kicking deviceHeterogeneous robotsHierarchical generation of reactive behaviors
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 4949
RoboCup Leagues Small-Size League
Lucky Star (Singapore) - Ngee Ann PolytechnicStable hardware platform, Good Basic skillsSimple cooperation mechanisms
5DPO (Portugal) - Faculty of Engineering of Univ. PortoModular Flexible SoftwareCooperation mechanisms (roles, tasks and actions)Vision (2 cameras)Tracking using circular bar codesInfrared (IR) communication system
CMU – Carnegie Mellon UniversityPowerful KickerVery good Control
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5050
RoboCup Leagues Middle-Size League
80 cm Robots5x10m FieldAutonomous Robots (local vision and decision)Teams of 4/5 Robots
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5151
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5252
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5353
RoboCup Leagues Middle-Size League
Most Significant TeamsBrainstormers Tribots
Learning of SkillsPerfect Robot controlWorld and European Champions
CS-Freiburg (Germany) - University of FreiburgMulti-Agent Coordination: Role assignment, positioningRich set of Basic Skills, Behavior NetworksLaser range finder for Self Localization
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5454
RoboCup Leagues Middle-Size League
Most Significant TeamsGOLEM Team (Italy) - University of Padua
Omni directional drive and omni directional visionFlexible Roles: Homogeneous Robots
ART - Azzurra Team (Italy) - Univ. Parma, Milano, Padua, Genova and Rome
Heterogeneous robots from different universitiesCooperative behavior: Passes
Portuguese Teams: IsocRob5DPOMinho Team ISEPortoCambada
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5555
RoboCup Leagues Legged Robots League
30cm RobotsField of 5*4mAutonomous RobotsTeams of 4 Robots – Sony AIBO dogsEmphasis on Computer Vision and Legged motion
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5656
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5757
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5858
RoboCup Leagues Legged Robots League
Most Significant TeamsGerman Team – Germany
4 German UniversitiesCoordinationLegged robots Simulation
UNSW (Australia) - University of New South WalesBall control and fast locomotion (supported on elbows)Low-level skillsTeammate recognition and LocalizationSimple high-level strategy
CMPack (USA) - Carnegie Mellon UniversityEmphasis on visionSensor Resetting Localization
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 5959
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6060
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6161
RoboCup Rescue is an expansion of RoboCup soccer competitions aiming at researching in socially useful areas
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6262
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6363
RoboCup RescueOne of the 3 major research lines in RoboCup initiativeMain Challenge:
Development of an heterogeneous team capable of saving people and limiting damage in a city after a major earthquake
Rescue Simulation league challenges: Urban virtual scenario, partially unknown, dynamic environmentGlobal strategy for a team, coordinationPartial hierarchical, low bandwidth communicationHeterogeneous agents in MAS systemPrediction of fire spreading and civilians health
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6464
RoboCup RescueSimulated Environment
City Virtual Model (Roads, Buildings and Agents)
Simulation of 72 hours after a major natural catastrophe
Emergency and security forces are mobilized in order to minimize life losses and material damages
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6565
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6666
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6767
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6868
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 6969
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7070
Buildings in fireFire Brigades
Building being extinguished
Spring of water
Function:• Extinguish fires and control its expansion
Associated Challenges:• Choose the best region to extinguish
• Choose the best building (preemptive?, direct?)
• Anticipate fire spreading (buildings and human lives)
• Collective and individual management of water in tanks
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7171
Policeman approaching new
obstruction
Policeman clearing a road
Obstructed Roads
Function:• Road clearance
Associated Challenges:
• Scheduling of the roads to clear considering: trapped emergency vehicles, principal routes, paths to refuges, fires and
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7272
RoboCup RescueCenter Agents and Communication
Function:• Interface between different
agent types
• Agent Coordination
Associated Challenges:
• Use global vision to improve high-level decisions
• Coordination of different agent types
• Communication limitation management (low-bandwidth)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7373
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7474
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7575
Presentation Structure Simulator – Soccer Server
IntroductionRoboCup InitiativeRoboCup LeaguesSimulator – Soccer Server
Global PerspectiveThe Soccer MonitorThe Game, Field and ObjectsPerception and Action of the AgentsAgent ConstructionSimulation Major Difficulties
FC Portugal ProjectCoordination Methodologies and ResultsLegged RobotsResearch Areas and Conclusions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7676
How the Simulator Works?Client-Server SystemAgents (player’s brains) control a single player:
UDP sockets/LinuxServer:
Receives agent commandsSimulates the movement of objects Sends perceptions to the agents
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7777
Simulation CharacteristicsReal-Time - HumanDistributed – 24 ProcessesInaccessible (hidden), Continuous and Dynamic WorldErrors in: Perception, Movement e Action Limited Resources: Energy and Recovery
Limited Communication Multi-Objective, Cooperative and Adverse Environment
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7878
Soccer MonitorLinux or Windows
Simulator - Soccer ServerSoccerMonitor for Linux and Windows
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 7979
2D SimulationField of 105*68m
22 Players and 1 BallCircles
Marking Flags and LinesAutomatic Referee
Rules Reinforcement Online Coach
Instructions (stopped game)Human Referee
Complex situations
Simulator - Soccer ServerThe Game, Field and Objects
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8080
Visual PerceptionLimited vision (angle and distance) with errors
Aural PerceptionLimited bandwidth communication
Physical Perceptionenergy, recovery, speed, …
----------Physical
Adversaries MessagesLimited DistanceAural
ErrorsLimited Distance/AngleVisual
NoiseSpatial LimitationsType
Simulator - Soccer ServerAgent’s Perceptions – Global Perspective
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8181
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8282
Not reliable!No guaranty that the message is send or heard! 22 Agents (including opponents) use the same channel!Limited communication capacity and rangeNo information about the sender!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8383
Agent’s ActionsTurn (Angle) - RotateDash (Power) - AccelerateKick (Power, Angle) - Kick the BallCatch (Angle) - Catch the Ball (goal keeper)Turn_Neck (Angle) - Rotate NeckChangeView (VType) - Vision ControlSay (Message) - SpeakTackle (Power) - Tackle OpponentPointTo (Dist,Angle) - Point to a PointAttentionTo (Unum) - Give attention to Teammate
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8484
How to Build Basic Agents for RoboSoccer?
PerceptionWorld State UpdateHigh-Level DecisionAction Execution
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8585
Simulator - Soccer ServerAgent Construction
Main Questions:What Info in the World State?How to Update the World State?How to Build Complex Actions?
(dribble, pass, move, mark, intercept, etc.)How to use the Limited Resources (Energy)?How to Create Collective Actions?How to Really Create a Team?
(defending/attacking, tactics, formations, player behaviors, etc.)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8686
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8787
FC Portugal ProjectOverview
Project Leaders: Luis Paulo Reis (LIACC/FEUP) and Nuno Lau (IEETA/UA)
Approach: Multi-Agent System with Simple Coordination Techniques
CMU99 Low-level source code used as a starting pointResults:
European Champion - 2000 in Amsterdam (86-0)!World Champion – 2000 in Melbourne (94-0)!European Champion - 2001 in Paderborn (56-4)!3rd World Championship - 2001 in Seattle! (150-5)!Coach Champions 2002 – Fukuoka, JapanCoach 2nd Place – Padova, Italy and Lisbon, Portugal (2003,2004)Euro Champions (3D league) - 2006 in Eindhoven! (17-0)!World Champions (3D league) - 2006 in Bremen! (78-0)!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8888
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 8989
FC Portugal ProjectLow-Level Skills – Overview
Low-Level Skills:Movement in the Field (with obstacle avoidance)Ball InterceptionStop and Hold the BallKick the BallDribble
Innovation:Optimization Kick – A kick based on online optimization techniques!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9090
FC Portugal ProjectDecision Module Control Flux
STRATEGY – Strategic AnalysisDPRE – Positioning ExchangeADVCOM – Intelligent CommunicationSLM –Intelligent perceptionSBSP – Strategic PositioningDecisions: stopped game, with and without ballExecution and prediction of ActionsWorld State and Situation Update
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9191
FC Portugal Project Active Behavior with Ball - Overview
Ball Possession Actions:Shoot to the GoalPass (rapidly) the BallForward the Ball (to a given point)Dribble with the BallHold the Ball
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9292
FC Portugal ProjectActive Behavior with Ball - Passing
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9393
FC Portugal Project Tools and Debugging
Debugging methodology principles:Offline debuggingVisual debuggingSuperimposed real environment and agent physical knowledgeFeature-focused debuggingInformation structured in layers of abstraction with different detail levels
Development tools implemented:Visual Debugger used to analyze the reasoning of agentsTeam Designer for graphical definition of soccer strategiesOffline client methodology3D Visualization Tools with Intelligent Camera ControlWstateMetrics that evaluates the accuracy of world states
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9494
FC Portugal Project Visual Debugger
Testing and tuning of the teamShows what the agents see, hear, feel, think and do!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9595
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9696
Presentation Outline IntroductionRoboCup InitiativeRoboCup LeaguesThe Simulator – Soccer ServerFC Portugal ProjectCoordination Methodologies and Results
Strategical CoordinationSBSP – Situation Based Strategic PositioningDPRE – Dynamic Positioning and Role ExchangeADVCOM – Advanced CommunicationSLM – Strategic Looking MechanismMM – Mutual ModelingCoaching – Coach UnilangResults in Controlled Experiments Results in Official Competitions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9797
Coordination MethodologiesFormalization of the Team Strategy
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9898
Coordination Methodologies SBSP - Situation Based Strategic Positioning
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 9999
Coordination MethodologiesSBSP - Situation Based Strategic Positioning
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 100100
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 101101
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 102102
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 103103
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 104104
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 105105
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 106106
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 107107
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 108108
Coordination Methodologies DPRE - Dynamic Positioning and Role Exchange
Dynamic Exchange of Positionings and Behaviors based on utility:
Distances from players positions to its strategic positionsPositioning importance and adequacy of agents
DPRE improves the robotic team collective performanceImportant against opponents with similar collective capabilities
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 109109
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 110110
Coordination Methodologies DPRE - Dynamic Positioning and Role ExchangeALGORITHM DynamicPositioningExchange(WorldState, Situation, Positionings)RETURNS Positionings(TeamSize)PARAMETERS WorldState, Positionings[TeamSize], Situation{FOR PL1 = 2 TO TeamSize-1 DO
FOR PL2 = PL1+1 TO TeamSize DO IF PositionValid(PL1) AND PositionValid(PL2) THEN {Dist11 = Distance(Position(Pl1),SBSPPosition(Pl1))Dist22 = Distance(Position(Pl2),SBSPPosition(Pl2))Dist12 = Distance(Position(Pl1),SBSPPosition(Pl2))Dist21 = Distance(Position(Pl2),SBSPPosition(Pl1))Adeq11 = PosAdequacy(Pl1, Positioning[Pl1])Adeq22 = PosAdequacy(Pl2, Positioning[Pl2]) Adeq12 = PosAdequacy(Pl1, Positioning[Pl2]) Adeq21 = PosAdequacy(Pl2, Positioning[Pl1]) Util = ExchangePositions(DPREMode, Situation, Dist11, Dist22, Dist12, Dist21,
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 111111
Coordination Methodologies ADVCOM –Intelligent Communication
Challenges: What and When to communicate?What to Communicate?
Individual World State – to improve world state accuracyUseful Events – for coordination
When to Communicate?Communication utility is very high or is greater then communication utility (modeled) of teammates!Creation of a Communicated World State!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 112112
Motivation:Intelligent Sensor utilization!Different World State object’s importanceLook always to the ball? No…
What is it?Looking Direction decided based on the Expected Utility to look on that direction!Possible looking direction with greater utility is chosen!
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 113113
Coordination Methodologies MM - Mutual Modeling
Motivation and principle:Use Teammate and Opponent Models!Estimate their positions and actions!Fuse this information with visual, sensorial, aural informationEnables more accurate world statesVery useful when vision and sensors is not of good quality
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 114114
Coordination Methodologies Online Coach and Game Statistics
Game Statistics and Opponent Modeling InformationTime and ResultIndividual Action with/without ballBall losses and Ball recoveriesAttacks and AssistancesBall PossessionBy:
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 115115
Coordination MethodologiesCoach Unilang – Language to Coach a (Robo)Soccer Team
Base Concepts: Time Periods, Regions, Tactics, Formations, Situations, Player Types
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 116116
Results – Competition and Controlled Experimental Results
Competition Results
Controlled Experiments Results
Competition Local Goals Shoots Scor. Chances Atack Midle Defense
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 117117
Results – Competition and Controlled Experimental Results
With SBSP – Situation Based Strategic Positioning
Without SBSP (using SPAR – Atractions and Repulsions)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 118118
Results – Competition and Controlled Experimental Results
With DPRE – Dynamic Positioning and Role Exchange
Without DPRE – Dynamic Positioning and Role Exchange
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 119119
Results – Competition and Controlled Experimental Results
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 120120
Coordination Methodologies Results: European 2000 - Amsterdam
First Stage - Group AFC Portugal 3 - 0 Essex Wizards (England)FC Portugal 13 - 0 Lucky Luebeck (Germany)FC Portugal 4 - 0 Cyberoos (Australia) FC Portugal 22 - 0 Pizza Tower (Italy) FC Portugal 19 - 0 Polytech (Russia) FC Portugal 6 - 0 PSI (Russia)
Quarters and Semi-FinalsFC Portugal 13 - 0 Wroclaw (Poland) FC Portugal 5 - 0 Essex Wizards (England)
FinalFC Portugal 2 - 0 Karlsruhe Brainstormers (Germany)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 121121
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 122122
Coordination Methodologies Results: European 2001 - Paderborn
First Stage - Group AFC Portugal 2 – 0 Sharif Arvand (Iran) FC Portugal 3 – 1 Aras (Iran) FC Portugal 26 – 0 Osnabruck (Germany) FC Portugal 5 – 2 UvaTrilearn (FC Portugal 3 – 1 Lucky Luebeck (Germany)
Second StageFC Portugal 6 – 0 Dr Web (Russia)FC Portugal 9 – 0 Robolog (Germany)FC Portugal 1 – 0 Karlsruhe Brainstormers (Germany)
FinalFC Portugal 1 – 0 Karlsruhe Brainstormers (Germany)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 123123
First Stage – Group AFC Portugal 29 – 0 11Monkeys (Japan) FC Portugal 9 – 0 TUT-Grove (Japan) FC Portugal 32 – 0 RMIT Goannas (Australia) FC Portugal 8 – 0 Robolog (Germany)
Second Stage – Group CFC Portugal 5 – 0 Helli Respina (Iran)FC Portugal 16 – 0 UtUtd (Iran)FC Portugal 4 – 0 FC Tripletta (Japan)FC Portugal 13 – 0 AT Humboldt (Germany) FC Portugal 22 – 0 ATTUnited (USA)
Final StageFC Portugal 8 – 0 YowAI (Japan)FC Portugal 4 – 1 UvaTrilearn (Netherlands)FC Portugal 0 – 3 Tsinghuaeolos (China)FC Portugal 0 – 1 Karlsruhe Brainstormers (Germany)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 124124
ResultsFC Portugal -TsinghuAeolus (China) 5:0 FC Portugal - AllemaniACs3D (Germany) 5:0 FC Portugal - MRL (Iran) 2:0 FC Portugal - RoboLog3D (Germany) 5:0 FC Portugal - Aria (Iran) 4:0 FC Portugal - MainzRollingBrains (Germany) 8:0 FC Portugal - JU-TsubameGaeshi (Japan) 9:0 FC Portugal - WrightEagle (China) 3:0 FC Portugal - MainzRollingBrains (Germany) 8:0 FC Portugal - AmoiensisNQ (China) 5:0 FC Portugal - Arman (Iran) 1:0
FC Portugal - SEU (China) 0:0 FC Portugal - MRL (Iran) 3:0 FC Portugal - Rezvan (Iran) 1:0 FC Portugal - Brainstormers (Germany) 5:0 FC Portugal - Caspian (Iran) 1:0 FC Portugal - CZU2006 (China) 5:0 FC Portugal - Arman (Iran) 2:0 FC Portugal - Virtual Werder (Germany) 3:0 FC Portugal - Aria (Iran) 1:0
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 125125
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 126126
AIBO Robotic Platform ERS110
Stereo MicrophoneInfrared SensorsProcessor MIPSCCD Color CameraLegs with 3 freedom degreesAcceleration and vibration sensors
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 127127
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 128128
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 129129
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 130130
Actuators6 Leds (Face)
4 Red2 Green
Mode LedTail Led (2 colors)Speaker
Low Quality (8 KHz)8 Bits linear PCM1 Channel (mono-aural)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 131131
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 132132
Sensors – Touch and Sound
BackChin4 Touch - LegsStereo Microphone
Sampling Freq: 16KHz16 bits linear PCM2 channels (stereo)Omni directional or Directional
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 133133
Sensors – Color Camera
Color (YUV)176(H)x144(V) pixels25 FPS Lens
F 2.0, f=2.18mmmVision angle:
(H:57,6 x V: 47,8 graus)Shutter Speed, White Balance e Ganho
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 134134
Sensors – BodyAcceleration (ax, ay e az):
-2.0G a +2.0GVibration and TemperatureClockSlots:
PC Card (Wireless)Memory Stick: Only Open-R!Battery: Lithium (7.4V / 2300mAh)
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 135135
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 136136
Mechanics
Be Careful with motorsMotor Overload: ShutdownDependencies between J1, J2 and J3
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 137137
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 138138
AIBO – ERS7
Faster ProcessorRobustCamera (352x288)3 Proximity SensorsSpeaker (16 KHz)Stronger MotorsWirelessAIBO Mind 2Charger
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 139139
Examples and Applications
Obedience: Voice commandsDancesBall and Object localizationDialogue with humansDistance controlRobotic soccer
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 140140
Examples and ApplicationsAIBOWare
AIBOWare: Only Sony MS
Programs:AiboLifeHello AIBOParty MascotSpringAibo Mind 2
Applications:Disco AIBOObey CatBender AIBOAIBO and CostelloScooby AIBOCartman AIBOBrainBo
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 141141
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 142142
AIBO ProgrammingOPEN-R SDK - Introduction
OPEN-R: Standard interface
OPEN-R SDK (OPEN-R Software Development Kit)gcc (C++)Open sourceHardware and Software modular architectureWireless
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 143143
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 144144
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 145145
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 146146
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 147147
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 148148
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 149149
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 150150
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 151151
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 152152
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 153153
AIBO ProgrammingComparison RCode / OPEN-R
Software Sony: AIBOLifeEmotions, instincts, learning, growing, voice and object recognition, etc.
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 154154
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 155155
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 156156
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 157157
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 158158
Sony Legged LeagueSource Code:
German TeamrUNSWiftCMUPackUTS UnleashedNubotsAsuraAraiboBaby Tigers…
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 159159
Color SegmentationColor Calibration:
Table associating YUV (or RGB) to each color to detectColor Segmentation:
Table Lookup for each pixel in the imageNoise filtering: Temporal and spatial
Run-length encodingBlob determination:
For each relevant colorSegment mergingComputationally expensive
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 160160
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 161161
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 162162
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 163163
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 164164
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 165165
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 166166
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 167167
Legged Conclusions
Legged LeagueVision is quite difficultLocalization easier than in other leaguesLocomotion and navigation very complexWireless CommunicationStrategyChallenges
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 168168
Presentation OutlineIntroductionRoboCup InitiativeRoboCup LeaguesSimulator – Soccer ServerFC Portugal ProjectCoordination MethodologiesLegged RobotsResearch Areas and Conclusions
RoboCup Research TopicsApplications of RoboCup ResearchAdditional InformationConclusions
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 169169
Research AreasRoboCup Research Topics
Coordination of Teams of Homogeneous / Heterogeneous Agents in Adversarial Environments: SBSP and DPREConcept of Strategy for a Competition against other Team with Opposite Goals - STRATEGYCommunication in MAS - ADVCOMIntelligent Perception – SLMOptimization Techniques – Optimization Kick, Smart DribbleLearning and Opponent Modeling in Adversarial Environments Soccer – Individual Decision
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 170170
Research AreasApplications of Research
Real/Simulated Sport CompetitionsRoboCup RescueWar ScenariosMine Clearance and Land ExplorationControl of Hospital RobotsPublic Transports CoordinationSatellite Control and Nuclear Weapon ManagementCleanup of Radioactive and Toxic ContaminationImplementation of AI Opponents for Simulation Games
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 171171
Research AreasAdditional Information
Web Pages:RoboCup Federation - www.robocup.orgLuis Paulo Reis – www.fe.up.pt/~lpreisFC Portugal - www.ieeta.pt/robocup ; www.fe.up.pt/~rescue5DPO - www.fe.up.pt/~robosocIsocRob - http://socrob.isr.ist.utl.ptMinho Team - www.robotica.dei.uminho.ptISEPorto Team - www.isep.ipp.pt/iseporto.html
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 172172
ConclusionsUniversity of Porto - New Projects
Common framework for cooperative roboticsSmall and Middle-Size league (5DPO, Cambada) - Mixed Teams RoboCup Rescue and other domainsReal Soccer Intelligent Game Analysis SystemPresent Simulators:
General Strategy for a CompetitionGeneral Coaching – Coach UnilangOpponent Modeling and Game AnalysisLearning high-level skillsHeterogeneous PlayersExtension of SBSP, DPRE, ADVCOM and SLM3D Visualizer with Camera Intelligent control
EAIA2007, Definition of HighEAIA2007, Definition of High--Level Coordination Techniques for Robotic Teams, Level Coordination Techniques for Robotic Teams, LisboaLisboa, Portugal , Portugal 173173
ConclusionsRoboCup in the Future
In the Future? Is it really possible, by 2050, to build a team of fully autonomous humanoid robots that may win against the human world champion team in soccer?
Major Difficulties?Robotic Sensors?Robotic Actuators?Artificial Brains?Social Behavior?
RoboCup is not only about Competition!Universities and Companies!Research applied in other areas