robocup soccer nidhi goel course: cs575 instructor: k. v. bapa rao
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RoboCup SoccerRoboCup Soccer
Nidhi GoelNidhi Goel
Course: cs575Course: cs575
Instructor: K. V. Bapa RaoInstructor: K. V. Bapa Rao
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How much intelligence do you need How much intelligence do you need to play soccer?to play soccer?
• Reconstruction of environment from sensor data Spatial reasoning
• Being able to select the right motor skill (and parameterize it) in order kick the ball in right direction
• Strategic thinking and acting
• Proactive in order to create opportunities
• Reactive in order to exploit opportunities
* Referred * Referred http://www.informatik.uni-freiburg.de/~robocup/ presentation slides presentation slides
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Can a robot do these?Can a robot do these?
• Understand
• Simulate its environment
• Collaborate and compete
• Display emotions
* Referred * Referred http://web.cecs.pdx.edu/~mperkows/CLASS_ROBOTICS/ presentation slides
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Power of AIPower of AI
• Design of intelligent machines• formalization of the notions of intelligence
and rational behaviour• understanding mechanisms of intelligence• interaction of humans and intelligent
machines In 1997 a computer, Deep Blue, won a
chess match against world champion Kasparov
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Chess versus soccer robotChess versus soccer robot
Non-SymbolicSymbolicSensor reading
DistributedCentralControl
IncompleteCompleteInfo accessibility
Real timeTurn takingState change
DynamicStaticEnvironment
SoccerChess
* Referred * Referred http://web.cecs.pdx.edu/~mperkows/CLASS_ROBOTICS/ presentation slides
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RoboCupRoboCup
Is an international robotics competition founded in 1993
• Is an international joint project to promote AI and robotics
• Is a task for a team of multiple fast-moving robots under a dynamic environment
• Has goal “By 2050, develop a team of fully autonomous humanoid robots that can win against the human world champion team in soccer”
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Cont'd......Cont'd......
• RoboCup focuses in four areas-– RoboCup Rescue– RoboCup @ home– RoboCupJunior– RoboCup Soccer
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RoboCup RescueRoboCup Rescue
• Disaster rescue is – one of the most serious issues – involving a large numbers of heterogeneous
agents – in a hostile environment.
• Is divided into two leagues– RoboCup Rescue Robot league– Robocup Rescue Simulation league
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RoboCup @ HomeRoboCup @ Home
• Aim is to promote the development of robots that will aid humans in everyday life.
• Participants are given an environment that involves a kitchen, a living room, and possibly more.
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RoboCup JuniorRoboCup Junior
• Is a project-oriented educational initiative – sponsors local and international robotic
events – For young students.
• provides a unique opportunity for– participants with a variety of interests and
strengths – work together as a team to achieve a common
goal like-• Soccer challenge• Dance challenge• Rescue challenge
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RoboCup SoccerRoboCup Soccer
• Main focus of the RoboCup activities is competitive football.
• Is divided into the following leagues– Simulation league– Small size robot league– Middle size robot league– Four-legged robot league– Humanoid league
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Case Study: Small size Robot leagueCase Study: Small size Robot league
• focuses on the problem – intelligent multi-agent cooperation – control in a highly dynamic environment – with a hybrid centralized/distributed system.
• Two teams of five robots each
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Small size robot soccer rulesSmall size robot soccer rules
• Robot must fit – within an 180mm diameter circle – must be no higher than 15cm
• Green carpeted field – 4.9m long by 3.4m wide – an orange golf ball
• Robots come in two flavours– local on-board vision sensors– global vision.
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Robot VisionRobot Vision• Global
– Use an overhead camera located 4m above the playing surface
– Off-field PC to identify and track the robots as they move around the field
• Local– have their sensing on robot itself
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How soccer playing robots workHow soccer playing robots work
• Two complex processes are involved– Image processing – Strategy and Control
• Image processing– 640x480 images are available– Only 5 colors are there
• Green field, white lines, orange golf ball, blue / yellow ping-pong balls to identify teams.
• Additional markers can be used by teams to identify their orientation in images
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Image ProcessingImage Processing
• Each image frame is scanned for each color separately
• Blob Analysis is performed for each color– Identifies regions of connected pixels
• Additional processing on frame sequence– determines speed and direction of each blob
• Information is passed on to strategy program
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Strategy and ControlStrategy and Control• Decides whether to play offence or defense• Where each robot should move• Whether to pass or hit directly• Decisions based on “Expert Systems”
– A long complex list of True-False questions used to decide actions
– Based on experiences / perceptions of programmers
• Decisions passed on to Control System– Involves largely mathematical formulations to
calculate trajectories of motion– Decide correct torques in motors/ currents in
actuators
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RoboCup 2007 - resultsRoboCup 2007 - results
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ReferencesReferences
• http://www.robocup.org/
• http://www.news.cornell.edu/releases/Aug00/howitworks.html
• http://www.youtube.com/watch?v=1JJsBFiXGl0
DemoDemo