world model implementation & results workshop stuttgart, 5/6 november 2009 rob janssen
TRANSCRIPT
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World Model implementation & resultsWorkshop Stuttgart, 5/6 November 2009
Rob Janssen
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Why World Model?
Before WM:
- knowledge acquired locally
(little communication)
- no consensus on environment
- no team play (only role-tasks)
With WM:
- share knowledge of environment
- agree on own/opponent/ball positions
- allows for passing, avoidance etc..
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Features World Model
• Cluster shared information
• Provide consensus
• Run in real-time
But..
• Reliable communication necessary (multicastpacket loss, delay)
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Local World Model
• Omnivision (segment black blobs)
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Local World ModelClustering blobs (Schubert & Sidenbladh 2005)
For each report:-Generate hypotheses-Propagate objects in hypotheses (linear Kalman)-Update likelihood (compare report with objects)-Prune hypotheses tree-MAPE (obtain hypothesis with highest probability)
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Local World Model
Local opponents
send to World Model
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Local/Global World Model
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Global World Model
Same as local world model
Except:
- Labeling added
- Label consistency with switching hypotheses
- Agent ID overrules label
- Agent position overrules clustered object position
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Result
WK Graz Cambada 2nd half
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Validation
1) Topcamera above field
2) Match 3vs3
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Future work
- Ball: Non-linear observer
not yet implemented
Locally obtained/communicated
- Strategic learning
- Improve communication!!
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Questions