Current Development & Future WorkWorkshop Kassel, 20/21 November 2008

Rob Janssen

Recap

“By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer team”

Midsize league specific:• Develop a Team• Of Fully Autonomous• Robots• That Can Play Soccer

Current status Tech United• Reactive, implicit mono-play

• Semi-fixed default roles

• Basic strategy• Minimized communication (demand-driven)

• No learning

Result: Predictable & Robust platform created

Short Term Goals• Multi-Play A.S.A.P. (All Sense All Play)

• Dynamic Role Allocation

• Strategic Position-Based Behaviour

• Fast Communication

• Adaptive Tactical Insight

How to?

Methodology• World Model running on each

individual TURTLE– Partially updated by Vision– Partially updated by WiFi

• Strategic GamePlay– Situal Awareness– Tracking and Labeling Objects– Dynamic Passing

Dynamic Passing• Passer:

– Global Tracking Team Players– Global Tracking Opponent Players– Needs Reproducible Shot

• Receiver– Fast Visual Ball Tracking– Needs “Perfect” Ballhandling/Reception

• Repetitive process(Receiver->Passer etc..)

Dynamic Passing

Adaptive Tactical Insight• Tactics through World Model

– Communication of TURTLE-status– Communication of TURTLE-position– Communication of Opponent-position

(A.S.A.P. tracking)

– Communication of Ball-position

• Learning Algorithms– Opponent Strengths– Opponent Weaknesses

• Framework For Strategy

Tooling• “Fast” Communication (Cambada, ~5Hz)

• Omnivision (SmartCam/FPGA, 200Hz)

• Forward Cam (SmartCam/FPGA, 200Hz)

• Fast & Robust I/O (Beckhoff, 1000Hz)

• High Performance Onboard Data Processing (Beckhoff, Dual Core 2Ghz)

Ambition

Combine control theory with multi-

agent behavioral design.

Result:

SUUPPAADUUPAAA

SOCCAAA

PLAY!!