robocup ve usarsim dr. muhammet balcılar. what is robocup? an international research and education...

Robocup ve USARSIM

Dr. Muhammet Balcılar

What is RoboCup?• an international research and education initiative• an attempt to foster AI and intelligent robotics research by

providing a standard problem• for this purpose, a soccer game was chosen as the primary

domain

Why Soccer?• Soccer is the world’s game.

• RoboCup is a task for a team of multiple fast-moving robots under a dynamic environment

• in order for a robot team to actually play soccer, various technologies must be incorporated, such as: autonomous agents, multi-agent collaboration, strategy acquisition, and real-time reasoning

A New Standard Problem?

• a standard problem is a clearly-defined, realistic and affordable challenge that can be used to evaluate and compare various algorithms, theories, and architectures

• Turing proposed chess as a standard problem for AI (because chess is hard)

• It is proposed that RoboCup should be a new standard problem for intelligent robotics

A New Standard Problem:Why RoboCup?

Chess RoboCup

Environment Static Dynamic

State Change Turn taking Real time

Information accessibility

Complete Incomplete

Sensor Readings

SymbolicNon-symbolic

Control Central Distributed

Well, Deep Blue already defeated human Grand Master Garry Kasparov. The chess problem is (virtually) solved and has become “too simple” to spur innovation, whereas RoboCup is cutting-edge:

Robocup Official Site: http://www.robocup.org/

Robocup Soccer Ligleri

• Soccer Humanoid League Teen Size

• Soccer Humanoid League Kid Size

• Soccer Humanoid League Adult Size

• Soccer Middle Size League

• Soccer Small Size League

• Soccer Standard Platform League

• Soccer 2D Simulation League

• Soccer 3D Simulation League

Robocup Rescue Ligleri

• Rescue Robot League

• Rescue Virtual Robot Simulation League

• Rescue Agent Simulation League

Robocup @Home Ligleri

• RoboCup@Home league

Robocup Junior Ligleri

• Junior Soccer League

• Junior Rescue League

• Junior Dance League

The RoboCup Leagues

Soccer Simulation Soccer Small Size Soccer Mid Size

Soccer Standard Platform Soccer Humanoid Rescue Real Robot

RoboCup@Home RoboCupJuniorRescue Simulation

Simulator League

Small Robot League

Middle Size Robot LeagueMiddle Size Robot League

Humanoid League

Rescue Robot LeagueResearch Challenges

High degree of mobility Simultaneous Localization

And Mapping (SLAM)

Victim detection

Autonomy!Autonomy!

• Yellow (top), orange (middle) and red (bottom) areas at the 2009 German open competition.

Competition settingSimulated victims

Signs of life: human form, motion, heat, sound, CO2

Signs of life: form,

motion, heat,

sound, CO2

THERMAL IMAGE

VISUAL IMAGE

• AriAnA & AVA • A joint team from Iran

and Malaysia, AriAnA & AVA use two robots, shown in Figure 4.

• The left robot is fitted with a gimballed LIDAR supported by two servo motors, and an inclined LIDAR at the front. At the front left and right are TPA81 Devantech thermal sensors, which can be panned by servo motors.

Rescue Virtual CompetitionUSARSim

• Based on the Unreal game engine (UT2004, Epic Games)

• Realistic models of USAR environments, robots (Pioneer2 DX, Sony AIBO), and sensors (Laser Range Finder, Color Camera, IMU, Wheel Odometry)

• Multiple heterogeneous agents can be placed in the simulation environment

• High fidelity simulation of up to 12 robots

Rescue Virtual CompetitionIntroduction cont.

Unreal Client

Unreal Server

Command

Sensor data

Sonar Sensor message

Rescue Virtual CompetitionPerformance Metrics (Her sene değişiyor)

• Victim discovery– Victims are detected by a simplified sensor retuning ID/state

depending on distance– Victim ID (10pt), Victim status (20pt), victim location (10pt),

additional information (20pt)• Self Localization and Mapping (SLAM)

– Metric quality (50pt): How close are reported locations to ground truth?

– Multi-robot fusion: Bonus for maps generated by multiple robots• Exploration

– Max. 50pt if exploring the whole area– NEW: Explored areas have to be marked as “cleared”

• Penalization– Robot-Victim collision (-5pt)– Teleoperation: Division of total score by (1+N)2

– NEW: One mandatory operator for each team

Rescue Virtual CompetitionMore new features

Improved robot models for

realistic mobility

• GeoTIFF format for maps• Maps will be overlaid on and

compared to ground truth• Teams must specify areas

“cleared”– Points deducted for victims in

“cleared” areas

Rescue Agent Competition Introduction

• Large scale disaster simulation

– Simulators for earthquake, fire, civilians, and traffic

– The task is to develop software agents with different roles, that

• make roads passable (police)

• extinguish the fires (fire brigades)

• rescue all civilians (ambulances)

– Difference to Soccer Simulation:

A challenging Multi-Agent Problem since Agents must cooperate