Download
the idea of robot soccer n.
Skip this Video
Loading SlideShow in 5 Seconds..
The idea of Robot Soccer PowerPoint Presentation
Download Presentation
The idea of Robot Soccer

The idea of Robot Soccer

290 Vues Download Presentation
Télécharger la présentation

The idea of Robot Soccer

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  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 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? Is the following AI?

  8. Simulation Turing test (1950)

  9. Chess versus soccer robot Chess RoboCup Environment Static Dynamic State Change Turn taking Real time Info. accessibility Complete Incomplete Sensor Readings Symbolic Non-symbolic Control Central Distributed 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. 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

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

  35. 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).

  36. Various levels • real robot leagues • softwareagent league • special skill competition

  37. 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

  38. History • RoboCup-1997 Nagoya, Japan, IJCAI 97 • RoboCup-1998 Paris, France, MAAMAW • AI*IA, 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

  39. RoboCup 97 Nagoya • Aug 23 - 29, 1997, Nagoya, Japan • Conjuction with IJCAI-97 • Simulator league • 33 teams: USA=8, Europe=8, Australia=2, Japan=15 • 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

  40. 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

  41. Simulation League

  42. 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.

  43. 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 don’t have the resources for building real robots

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

  45. SoccerServer

  46. SoccerMonitor

  47. Architecture Blue coach Human arbiter Red coach

  48. 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

  49. Small-Size League