robocup soccer nidhi goel course: cs575 instructor: k. v. bapa rao

RoboCup SoccerRoboCup Soccer

Nidhi GoelNidhi Goel

Course: cs575Course: cs575

Instructor: K. V. Bapa RaoInstructor: K. V. Bapa Rao

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

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

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

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

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”

Cont'd......Cont'd......

• RoboCup focuses in four areas-– RoboCup Rescue– RoboCup @ home– RoboCupJunior– RoboCup Soccer

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

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.

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

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

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

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.

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

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

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

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

RoboCup 2007 - resultsRoboCup 2007 - results

ReferencesReferences

• http://www.robocup.org/

• http://www.news.cornell.edu/releases/Aug00/howitworks.html

• http://www.youtube.com/watch?v=1JJsBFiXGl0

DemoDemo