Introduction

Robot soccer involves research areas

real-time recognition sensor fusion behavior learning for complex tasks strategy acquisition

Five robots performing actions

Attack Support Defend

Communication through wireless network

Robot Structure
Hardware Structure Omnidirectional vision Omnidirectional movement Kicking mechanism Software Structure World model construction Robot self localization Behavior structure

Adro Soccer Robot

Omnidirectional vision COPIS

hyperbolic mirror Basler Digital Camera 2 view around the robot

Omnidirectional movement
Omnidirectional wheels

DC motor Wheel encoder

Solenoid kicking mechanism

Self inductance

Speed-10m/s when 800 turns, current of 60 A are applied.

Parameters for solenoid design

Inductive Resistance (SelfInductance)

 Resistance

Force
Lorentz formula

 Dimensions shaft - near the solenoid coil magnetic part of the shaft = to the length of the solenoid coil Shielding control the radiated magnetic field steel tube out of the solenoid

Solenoid controlling circuit

first charging of condenser - 450V, requires 13 sec after a stroke 150v recharging of capacitor to 450 volt -9 sec Disadvantage operate on high voltages

Software Structure
world model construction

Confidence factor

 Robot self localization

Monte carlo localization
Belief function at pose l = (x, y, ) Motion model

Sensor model

Particle filtering method

belief function represented by a set of samples

Behavior Structure
Roles
Goal-keeper Attacker Defender Supporter

Strategy decider block (AI core)

Decides strategy Send list of roles to role engine

Role Engine
Determines applicability of role Role assignment fuzzy variable

 Fuzzy variable
Distance to ball, Distance to our goal, Distance to opponent goal, Orientation, Path obstacle

 Selection of appropriate robot

Tribot Soccer Robot Omnidirectional vision

Catadioptric camera Perspective camera

 Omnidirectional Movement
Three wheels Combined translational and rotational movement

Pneumatic Kicking Device

Two pneumatic cylinders Speed 20km/h , max. height 3m

 Software structure and world model

control and communication component vision component behavior component geometric and dynamic world model comp. Communication WLAN Low reliability Information exchange typed, untyped

 Robot Self localization

p - position of the robot orientation (.) - robust error measure d(.) - distance of a pt x from the closest field marking

 Behavior Structure
Behavior modeling finite state machine BDI interpreter Generic decision scheme
option = all available behaviors intention = option selected for execution loop determine the present situation s filter applicable options A = {option o s domain(o)} select one option i from A and make it the intention (arbitration) execute i end loop

 Generic Arbitration
Highest priority first arbitration Finish plan arbitration Random arbitration Sequence arbitration
Example

 Reinforcement learning Markov decision processes

M =(S,A,p,c)

A = set of actions S = set of states c(s,a,s) = immediate costs p(s,a,s) = probability

Summary
stereo camera system
30 frames/sec on 1.6 GHz CPU, running on Linux Avg. time to detect ball 4.9 ms Total processing time 12 ms

Omni-kick system - reduce the rotation rate about 60% Computation time required for self localization
Particle filtering (500 particles) 48.3 ms Particle filtering (200 particles) 17.9 ms Error minimization approach 4.2 ms

References
[1] Martin Lauer, Roland Hafner, Sascha Lange, Martin Riedmiller, Cognitive concepts in autonomous soccer playing robots, Cognitive Systems Research, 2010, Vol.11, pp. 287309. [2] Hamidreza Kasaei S., Mohammadreza Kasaei S., Alireza Kasaei S., Design a Modular Architecture for Autonomous Soccer Robot Based on Omnidirectional Mobility with Distributed Behavior Control, International Journal of Engineering and Technology, 2010, Vol.2, No.6, pp. 508-513. [3] Hamidreza Mohades Kasaei S., Mohammadreza Mohades Kasaei S., Alireza Mohades Kasaei S., Development a Real Time Cooperative Behavior Approach for Autonomous Soccer Robots Applied in Robocup- MSL, International Journal of Robotics and Automation (IJRA),2009, Vol. 1, Issue 2, pp. 26-41 [4] Yasushi Yagi, Shinjiro Kawato, Saburo Tsuji, Real Time Omnidirectional Image Sensor (COPIS) for vision guided navigation, IEEE Transactions on Robotics and Automation, 1994, Vol. 10, No.1, pp. 11-22

[5] Fragois G. Pin, Stephen M. Killough, A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots, IEEE Transactions on Robotics and Automation, 1994, Vol. 10, No.4, pp. 480-489. [6] Hamidreza Kasaei S., Mohammadreza Kasaei S., Alireza Kasaei S., A Practical Approach to Implementation an Autonomous Soccer Robot, Majlesi Journal of Mechanical Engineering, 2010, Vol. 3, No. 4, pp. 45-55.

Thank You