The idea of Robot Soccer - PowerPoint PPT Presentation

About This Presentation
Title:

The idea of Robot Soccer

Description:

The idea of Robot Soccer What is AI? Research in AI includes: design of intelligent machines formalization of the notions of intelligence and rational behavior ... – PowerPoint PPT presentation

Number of Views:940
Avg rating:3.0/5.0
Slides: 92
Provided by: eePdxEdu
Learn more at: http://web.cecs.pdx.edu
Category:
Tags: idea | robot | soccer

less

Transcript and Presenter's Notes

Title: The idea of Robot Soccer


1
The idea of Robot Soccer
2
What is AI?
  • Research in AI includes
  • design of intelligent machines
  • formalization of the notions of intelligence and
    rational behavior
  • understanding mechanisms of intelligence
  • interaction of humans and intelligent machines.

3
Objectives of AI
  • Engineering costruct intelligent machines
  • Scientific understand what is intelligence.

4
Can a robot do these?
  • Understand?
  • Simulate its environment?
  • Act rationally?
  • Collaborate and compete?
  • Display emotions?

A bold claim
A team of Robots will beat the FIFA World Cup
champions by 2050!
5
RoboCup - Aim
  • pushing the state-of-the-art
  • By mid-21st century, a team of fully autonomous
    humanoid robot soccer players shall win the
    soccer game, comply with the official rule of the
    FIFA, against the winner of the most recent World
    Cup.
  • TO BOLDLY GO WHERE MAN HAS GONE BEFORE (cf. Star
    Trek)
  • Formalised Testbed

6
Do you really believe that a team of Robots
could beat the FIFA World Cup champions by 2050?
  • By all accounts this may sound overly ambitious.
  • In fact, if you compare this goal to other ground
    breaking achievements it is not ambitious at
    all.
  • The Wright brothers' first airplane was launched
    and 50 years later man landed on the moon.
  • Even more recently Deep Blue the computer
    programmed to play chess, played chess grand
    master Garry Kasparov and won -- roughly 50 years
    after the deployment of the first computer.
  • It's a long time.
  • Think what has happened since 1950.

7
Power of AI
Is the following AI?
  • In 1997 a computer, Deep Blue, won a chess match
    with world champion Kasparov.
  • Accident?
  • IBM paid Kasparov to loose?
  • Brute force with no intelligence?
  • So, what is intelligence?

8
Simulation
  • Turing test (1950)

9
Chess versus soccer robot
  • Difference of domain characteristics between
    computer chess and soccer robots

10
Intelligent Agents
  • Agents are situated
  • Perception of environment
  • Execution of actions
  • Agents can communicate and collaborate
  • they can differ
  • than can compete and be more or less
    egoistic/altruistic
  • The agents have
  • objectives,
  • communications,
  • intentions.

11
Professor Kim from KAIST
A New Approach
The founder of Robot Soccer and FIRA president
Two organizations 1. FIRA (earlier) 2. RoboCup
(larger)
12
Four Blocks in two PCBs (Printed Circuit Boards)
  • Micro-controller (upper PCB)
  • Communication module (upper PCB)
  • Motor and driving circuits (lower PCB)
  • Power (lower PCB)

side view
front view
top view
13
Importance of Robot Soccer
  • Communication
  • Cooperation
  • Coordination
  • Learning
  • Competence
  • Real Time
  • Robot Soccer Evolution
  • Computer simulations
  • Wheeled brainless robots
  • Wheeled autonomous robots
  • Legged autonomous robots

14
Robot Soccer Purpose
  • The number one goal of robot soccer is not
    winning or losing, but accumulating diverse
    technology.
  • - Mr. Dao (Senior VP of Sony Corporation).

15
  • Robot Soccer Competitions

16
Robot Soccer?
  • Robot Soccer competitions proposed to help
    collaborate and evaluate various approaches
  • Software, hardware, electronics, sensors, motors,
    theories.
  • Difficult problem, challenge for top universities
    and industries

17
FIRA RoboCup
  • History
  • Category

18
Integrating various technologies
  • Autonomous agents
  • Collaboration of agents
  • Strategy acquisition
  • Real-time information processing
  • Mobile robotics and robot vision
  • Hardware and software technologies

19
  • FIRA

20
Index
  • Introduction
  • FIRA Robocup
  • History
  • Category
  • Discussion Issues
  • PSU soccer robot projects

21
4th FIRA Robot Soccer World Cup Winners
  • Notre Dame school, Campinas, Brazil (Aug 4-8,
    1999)
  • MiroSot
  • 1st RobotIS (Korea)
  • 2nd SIOR (Korea)
  • 3rd SOTY IV (Korea)
  • NaroSot
  • 1st RobotIS (Korea)
  • 2nd Y2K2 (Korea)
  • 3rd Olympus (Korea)

22
RoboCup-99 Stockholm Winners
  • Stockholm City Conference Center, Stockholm,
    Sweden(Jul.27 - Aug. 6, 1999)
  • Conjunction with IJCAI-99
  • Simulation League
  • 1st CMUnited-99 (USA)
  • Small Size League
  • 1st The Big Red (USA)
  • Middle Size League
  • 1st CS Sharif (Iran)
  • Sony Legged Robot League
  • 1st Les 3 Mousquetaries (France)

23
History
FIRA
  • 1995 - Idea of Robot Soccer
  • Prof. Jong-Hwan Kim (KAIST)
  • Micro-Robot World Cup Soccer Tournament (MiroSot)
  • Int. Organizing Committee for MiroSot (Sep.,
    1995)
  • Pre-meeting on MiroSot
  • Jul. 29 - Aug. 4, 1996, KAIST
  • 30 teams from 13 countries
  • Clear shape of MiroSot Rule

24
1st MiroSot
FIRAhistory
  • Nov. 9 - 12, 1996, KAIST
  • 23 teams from 10 countries
  • MiroSot
  • Newton Research Lab. (USA)
  • Single-MiroSot (S-MiroSot)
  • Carnegie Mellon United Team (USA)
  • Formulation of Soccer Robot

25
2nd MiroSot
FIRAhistory
  • Jun. 1 - 5, 1997, KAIST
  • 22 teams from 9 countries
  • MiroSot
  • Newton Research Lab. (USA)
  • OverDrive (MR, KAIST)
  • S-MiroSot
  • UFO (MaroTech, Korea)
  • MIRAGE (KAIST)
  • Development of vision technology
  • Vision - 30(60) frames/sec.
  • Beginning of FIRA

26
FIRA Robot World Cup
FIRAhistory
  • FIRA Robot World Cup 98
  • Jun. 30 - Jul. 3, 1998, La Cite de Sciences
    Industrie, Paris, France
  • NaroSot (Nano-Robot World Cup Soccer Tournament)
  • 1st MIRO III (KAIST)
  • S-KheperaSot (Khepera Robot)
  • 1st STATIC, (Univ. of Aarhus, Denmark)
  • MiroSot
  • Four FIRA regional championships
  • 1st The Keys (Human Interface Inc., Korea)
  • Development of vision motor technology
  • vision - 60 frames/sec
  • motor - 2m/sec
  • FIRA Robot World Cup 99

27
Category
FIRA
  • MiroSot
  • NaroSot
  • KheperaSot
  • RaroSot

28
MiroSot
FIRAcategory
  • 3 robots on 1 team
  • Size 7.5cm 7.5cm 7.5cm
  • Ball orange golf ball
  • Playground black wooden rectangular
    playground
  • (150cm 130cm 5cm)
  • Vision global vision system
  • (more than 2m above playground)

29
Experimental Setupof the Vision System
  • Control panel

30
NaroSot
FIRAcategory
  • 5 robots on 1 team
  • Size 4cm 4cm 5.5cm
  • Ball orange table-tennis ball
  • Playground , Vision same as Mirosot

31
KheperaSot
FIRAcategory
  • 3 robots on 1 team
  • Ball yellow tennis ball
  • Playground green playground (105cm 68cm
    20cm)
  • Robot Khepera Robot
  • Vision K213 Vision Turret

32
RoboSot
FIRAcategory
  • 3 robots on 1 team
  • Size 15cm 15cm 30cm
  • Ball red roller-hockey ball
  • Playground black wooden rectangular
    playground (220cm 150cm 30cm)
  • Vision on the robot
  • Under preparation

33
(No Transcript)
34
RoboCup
  • A project directed by Carnegie Mellon University
    (CMU)
  • Robot World Cup Soccer Games and Conferences
  • Robots working, playing, and competing against
    each other
  • Revolution in science and entertainment
  • Breakthrough in the fields of robotics and AI
  • Goal to culminate all the challenges in AI like
    temporal reasoning, machine learning, vision
    processing, obstacle avoidance, perception,
    cognition and motion control

35
Started in 1993.
  • In RoboCup 1999 there were more than 1500
    researchers actively participating within the
    RoboCup initiative.
  • and the number is still increasing.

36
Leagues of RoboCup
  • Simulator League
  • Small Robot League
  • Full Set Small Robot League, which is 11 robots
    per team (F-180)
  • Middle Size Robot League (F2000)
  • Legged Robot Games
  • Sony Legged Robot League (Sponsored by Sony)
  • Humanoid League (From 2002, demonstration may
    take place before 2002)
  • TeleOperation Track (to be announced)
  • RoboCup Commentator Exhibition, Related
    Competitions
  • (rescue, actors, etc).

37
Various levels
  • real robot leagues
  • software agent league
  • special skill competition

38
History
Robocup
  • Jun. 1993 - Robot J-League
  • Minoru Asada(Osaka Univ), Yasuo Kuniyoshi,
    Hiroaki Kitano(SONY)
  • Robot World Cup (RoboCup)
  • Sep. 1993 - first public announcement
  • Minour Asada, Manuela Veloso(CMU)
  • 1995 - first simulator for soccer games
  • Itsuki Noda(ETL)
  • C version soccer server v1.0
  • IJCAI-95 first public demonstration
  • 1996 - Pre-RoboCup-96
  • Nov. 4-8, 1996, Osaka, IROS-96
  • 8 teams for simulation league, demonstration of
    middle size league

39
History
  • RoboCup-1997 Nagoya, Japan, IJCAI 97
  • RoboCup-1998 Paris, France, MAAMAW
  • AIIA, Padova, Italy, September 1998
  • RoboCup-1999 Stockholm, IJCAI 99
  • RoboCup Euro 2000 Amsterdam
  • RoboCup-2000 Melbourne
  • RoboCup Japan Open 2001 Fukuoka
  • RoboCup German Open 2001 Paderborn
  • RoboCup-2001 Seattle, USA

40
RoboCup 97 Nagoya
  • Aug 23 - 29, 1997, Nagoya, Japan
  • Conjuction with IJCAI-97
  • Simulator league
  • 33 teams USA8, Europe8, Australia2, Japan15
  • 1st AT Humboldt (Humboldt Univ., Germany)
  • Small size robot league
  • 4 teams USA, France, Spain, Japan
  • 1st CMUnited (CMU, USA)
  • Middle size robot league
  • 5 teams USA, Australia, Japan
  • 1st Dreamteam (USC, USA), Trakies(Osaka Univ.,
    Japan)
  • Expert Robot Exhibit

41
RoboCup 98 Paris
  • Jul. 2-9, 1998, La Cite de Sciences Industrie,
    Paris, France
  • Conjunction with ICMAS-98
  • Middle size league
  • 1st CS-Freiberg, Germany
  • Small size league
  • 1st CMUnited98 (CMU, USA)
  • Simulator league
  • 1st CMUnited98 (CMU, USA)
  • Exhibitions
  • Full set small size robot league (11 robots)
  • Legged robot game
  • LEGO robot football demonstration
  • Webot simulator league

42
Simulation League
43
Simulator League
  • Simplified problem
  • World is two-dimensional.
  • Players are points.
  • Simplified control of movements
  • No collisions and conflict solving.
  • Simulation of soccer using artificial
    intelligence programs.
  • Each team consists of eleven autonomous software
    players.
  • Sophisticated rules apply in this league.

44
Simulation League
  • Each Team consisting of 11 programs, each
    controlling 1 of 11 simulated team members
  • The game takes place on a soccer software server
  • Motion, energy and distributed sensing
    capabilities are resource bounded
  • Time 11 minutes
  • Communication is available between players and
    strict rules are enforced e.g. offsides
  • Mainly for researchers interested in complex
    multi-agent reasoning and learning issues but
    dont have the resources for building real robots

45
Simulation League
  • Client-server system
  • Server virtual field
  • Client brain, control
  • Communication UDP/IP
  • Open system
  • Clients can be written by any programming
    systems.

46
SoccerServer
47
SoccerMonitor
48
Architecture
Blue coach
Human arbiter
Red coach
49
Example - University team
Simulator League
  • Entirely written in Java.
  • Is built upon mainly decision trees
  • 10-15 threads running per player however most of
    the time the threads is a sleep.
  • Approx. 22 000 lines of code, and increasing!
  • Written by 4 persons

50
Small-Size League
51
Small-Size League (F-180)
  • Field 2.7 m x 1.5 m

Size Area 18cm rule (fit inside in 18cm
diameter cylinder) Height 15cm (global vision),
22.5cm (otherwise)
  • teams of autonomous small size robot play soccer
    game on a field equivalent to a ping-pong table.
  • Each team consists of 5 robots.

52
Small size league
The field is the size and color of a Ping Pong
table
53
orange golf ball
  • Robots move at speeds as high as 2 meters/second
  • Global vision is allowed

54
Robot Soccer Initiative
Vision system
Host computer
Host computer
Communication System
Communication System
Robots on the playing field
Brainless System
  • Basic Architecture for Robot Soccer Systems

55
(No Transcript)
56
Vision System
  • Vision global vision system(more than 3m above
    ground)

57
Small-Size League
  • 20 minutes, 2 breaks

58
Real Robot Small-Size League Competition
59
Middle-Size League
60
Middle-size Real Robot League (F-2000)
  • The field is the size and color of a 3 x 3
    arrangement of Ping Pong tables (9-3 5-meter
    field)
  • Each team consists of 5 robots playing with a
    Futsal-4 ball (4 players, one goal-keeper)
  • Larger (50 centimeters in diameter) robots
  • Global vision is not allowed.
  • Each robot has its own vision system
  • Goals are colored
  • Field is surrounded by walls to allow for
    distributed localization through robot sensing
  • Rule structure based on the official FIFA rules

61
Medium size league
  • Teams of autonomous mid size robots

62
Real Robot Middle-Size League Competition
Ball red small soccer ball (FIFA standard size
4 or 5) Playground green playground (10m 7m
0.5m)
63
Medium Size League
64
Medium Size League
65
(No Transcript)
66
(No Transcript)
67
Robots can be heterogenous
68
Middle-Size League
69
Sony Legged Robot League
70
Sony Legged Robot League
  • 3 robots on 1 team (including the goalkeeper).
  • Robot AIBO ERS-110 (provided by Sony)

71
No communication, autonomous robots, software
only. Legged Robot League. 2.8 m x 1.8 m2
players and 1 goal-keeper in a team
72
Sony Legged Robot League
  • Is played on a field, approx 3x2 meter
  • Sony develops the robots, and provides a
    interface for the programming of the robots.

73
  • No Hardware modification is allowed

Playing time is 10 minutes per half, with a 10
minute break at halftime
74
  • Do different Robots have different personalities?
  • Some teams have robots with very different
    capabilities.
  • But it is hard to think of them as having
    personalities
  • rather the robots have different playing styles.

75
(No Transcript)
76
Early Sony prototype
77
  • Robot movements closely mirror those of animals

78
  • The winner is the team that scores the most
    goals.
  • In the event of a tie, a sudden death penalty
    kick competition will determine the winner

79
(No Transcript)
80
The Legged Robot League
81
The Legged Robot League
If opposing teams' robots are damaged or play is
excessively rough (whether intentional or not),
penalties may be assessed to the offending robot
82
System Comparisons
Merits
Demerits
Research purpose
  • Vision system
  • Multi-agent theory
  • Cannot use local sensors
  • High computing power fast sampling time

Remote-brainless system
  • Low cost
  • Easy to develop
  • Robot system
  • Multi-agent system development

Robot -based system
  • Complex and expensive robots.
  • Hard to build the system
  • Suitable for many agents
  • Can use local information
  • Robot-based and vision-based systems
  • Brain-on-board system
  • Suitable to modularize
  • Risk of inconsistent property between host
    computer and robot system

83
Humanoid League
84
Starting 2002, the humanoid league
85
Humanoid League
  • Bi-Ped League (Humanoid)
  • Australia
  • Japan

86
(No Transcript)
87
RobotCup-Rescue
  • RoboCup-Rescue Simulation Project is a new
    practical domain of RoboCup
  • A new initiative on search and rescue for large
    scale disasters
  • A generic urban disaster simulation environment
    constructed on network computers
  • Heterogeneous intelligent agents such as fire
    fighters, commanders, victims, volunteers, etc.
    conduct search and rescue activities in this
    virtual disaster world
  • Goal to enlighten citizens about accurate damage
    predictions, decision support in real disasters,
    and emergence of better disaster prevention
    strategies

88
Robocup-Junior
  • Initiative to promote educational aspects
    regarding RoboCup and advanced robotics topics
  • children below 18 years old participate in the
    RoboCup-Junior games
  • promotes participation by under-graduates,
    non-science graduates and general public, who are
    interested in RoboCup, but do not have the effort
    to get involved in the RoboCup World Cup games

89
Competitors
  • Simulation
  • Japan
  • Iran
  • Singapore
  • USA
  • Russia
  • Germany
  • Romania
  • Portugal
  • Catalonia
  • Italy
  • England
  • Finland
  • Sweden
  • Australia
  • F-180 (Small Size)
  • Australia
  • Belgium
  • Catalonia
  • China
  • Denmark
  • Germany
  • Japan
  • Korea
  • New Zealand
  • Portugal
  • Singapore
  • USA
  • F-2000 (Middle Size)
  • Italy
  • Australia
  • Germany
  • Iran
  • Japan
  • Portugal
  • Singapore
  • USA
  • Sony Four Legged
  • USA
  • France
  • Japan
  • Australia
  • USA
  • Canada
  • Germany
  • Sweden
  • Italy
  • England

Champions 1 USA, Cornell 2 Germany 3 Singapore
Champions 1 Australia 2 France 3 USA, CMU
Champions 1 Portugal 2 Germany 3 USA, CMU
Champions 1 Germany 2 Italy 3 Iran
90
Online References
  • http//www.robocup.org
  • http//www.robocup2000.org
  • http//world.sony.com/dream/robocup/robocup2000/
  • http//robomec.cs.kobe-u.ac.jp/robocup-rescue/
  • http//www.artificialia.com/RoboCupJr/
  • http//www.namultimedia.com/robocup/
  • http//parrotfish.coral.cs.cmu.edu/robocup-small/
  • http//owl.informatik.uni-ulm.de/ROBOCUP/

91
Problems
  • 1. Propose other robot sports in addition to
    soccer and sumo. Wrestling? Volleyball? Fencing?
    Write the rules and design a robot to play them.
    What will be technical and what will be the
    scientific challenge.
  • 2. Design the rules for walking robots playing
    soccer. Design the field. How to control the
    camera. Do we need sensors and for what? Where
    are they located?
Write a Comment
User Comments (0)
About PowerShow.com