Fuzzy Decision Making in AIBO 4legged Footballers

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Fuzzy Decision Making in AIBO 4-legged Footballers

• Kianoosh Mokhtarian

Computer Engineering Department Sharif University
of Technology 12/6/2006
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Why Fuzzy?

• The world is too complex
• Classical theory is too accurate to work with
  complex systems
• Importance of formulating human knowledge

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Fuzzy Sets

• Youth

• Good mark

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Basic Fuzzy Concepts

• Equality of two Fuzzy sets
• Complementation on a Fuzzy set
• Union of two Fuzzy sets
• Intersection of two Fuzzy sets
• a-cuts

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Fuzzy Systems

• The first step to build a Fuzzy system A set of
  Fuzzy if-thens obtained from experts knowledge
• Fuzzifier
• Defuzzifier
• Fuzzy Rule Base
• Fuzzy Inference Motor

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Fuzzy Relations

• Example

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Fuzzy Relations (contd)

• Example X approximately equal to Y

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Our Problem

• Input
• Current result of the game
• Time elapsed
• An estimation of the opponent
• Output
• Risk

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Our Problem (contd)

• Rule base
• A set of samples
• Rules conflicting ? rules membership degrees
• Input ? Fuzzify
• A Fuzzy set with the input as peak
• Infer for each rule
• Defuzzification

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Sample Results

• 4 for us
• Opponent 0.9
• Time 0.6

• -4 for us
• Opponent 0.9
• Time 0.6

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Thank You

• Question?