1 / 34

R O B O C U P & R O B O T C O M P E T I T I O N S

R O B O C U P & R O B O T C O M P E T I T I O N S. Leen-Kiat Soh November 26, 2007 CSCE475/875 Multiagent Systems Department of Computer Science and Engineering University of Nebraska Fall 2007. Introduction.

dudley
Download Presentation

R O B O C U P & R O B O T C O M P E T I T I O N S

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. R O B O C U P & R O B O T C O M P E T I T I O N S Leen-Kiat Soh November 26, 2007 CSCE475/875 Multiagent Systems Department of Computer Science and Engineering University of Nebraska Fall 2007

  2. Introduction • This presentation is based on a set of papers published in late 1990s and early 2000s and is meant to cover a range of negotiation research directions that took place at that time, serving as an informative overview for students who are interested in robocup and robot competitions to pursue more recent papers in the 2000s

  3. Introduction • From http://www.robocup.org/overview/21.html: • To foster AI and intelligent robotics research by providing a standard problem where wide range of technologies can be integrated and examined, as well as being used for integrated project-oriented education • For a robot team to actually perform a soccer game, various technologies must be incorporated: design principles of autonomous agents, multi-agent collaboration, strategy acquisition, real-time reasoning, robotics, and sensor-fusion • RoboCup is a task for a team of multiple fast-moving robots under a dynamic environment • RoboCup also offers a software platform for research on the software aspects of RoboCup

  4. History 1 • From http://www.robocup.org/overview/23.html: • The idea of robots playing soccer was first mentioned by Professor Alan Mackworth (University of British Columbia, Canada) in a paper entitled ``On Seeing Robots'' presented at VI-92, 1992 • Independently, a group of Japanese researchers organized a Workshop on Grand Challanges in Artificial Intelligence in October, 1992 in Tokyo, discussing possible grand challenge problems • led to a serious discussions of using the game of soccer for promoting science and technology

  5. History 2 • From http://www.robocup.org/overview/23.html, cont’d: • In June 1993, a group of researchers, including Minoru Asada, Yasuo Kuniyoshi, and Hiroaki Kitano, decided to launch a robotic competition, tentatively named the Robot J-League • Within a month, however, due to overwhelming reactions from researchers outside of Japan, the project was renamed the Robot World Cup Initiative, ``RoboCup'' for short

  6. History 3 • From http://www.robocup.org/overview/23.html, cont’d: • Concurrent to this discussion, several researchers were already been using the game of soccer as a domain for their research • Itsuki Noda, at ElectroTechnical Laboratory (ETL), Japan, was conducting multi-agent research using soccer, and started the development of a dedicated simulator for soccer games. This simulator later became the official soccer server of RoboCup. • Professor Minoru Asada's Lab. at Osaka University on soccer playing robots • Professor Manuela Veloso and her student Peter Stone at Carnegie Mellon University on soccer playing robots

  7. History 4 • From http://www.robocup.org/overview/23.html, cont’d: • In September 1993, the first public announcement of the initiative was made, and specific regulations were drafted. Accordingly, discussions on organizations and technical issues were held at numerous conferences and workshops, including AAAI-94, JSAI Symposium, and at various robotics society meetings • Meanwhile, Noda's team at ETL announced the Soccer Server version 0 (LISP version), the first open system simulator for the soccer domain enabling multi-agent systems research, followed by version 1.0 of Soccer Server (C++ Version) which was distributed via the web. The first public demonstration of this simulator was made at IJCAI-95

  8. History 5 • From http://www.robocup.org/overview/23.html, cont’d: • During the International Joint Conference on Artificial Intelligence (IJCAI-95) held at Montreal, Canada, August, 1995, the announcement was made to organize the First Robot World Cup Soccer Games and Conferences in conjunction with IJCAI-97 Nagoya • The decision was made to organize Pre-RoboCup-96 to identify potential problems associated with organizing RoboCup on a large scale • Pre-RoboCup-96 was held during International Conference on Intelligence Robotics and Systems (IROS-96), Osaka, from November 4 - 8, 1996, with eight teams competing in a simulation league and demonstration of real robot for middle size league

  9. History 6 • From http://www.robocup.org/overview/23.html, cont’d: • The official first RoboCup games and conference was held in 1997 with great success. • Over 40 teams participated (real and simulation combined), and over 5,000 spectators attended

  10. Objectives 1 • As a vehicle to promote robotics and AI research, by offering publicly appealing, but formidable challenge • RoboCup is a landmark project (like landing a man on the moon) as well as a standard problem (like chess) • The Dream • 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 From http://www.robocup.org/

  11. Objectives 2 • Difference of domain characteristics between computer chess and RoboCup: From http://www.robocup.org/

  12. Objectives 3 • RoboCup offers an integrated research task covering the broad areas of AI and robotics • Real-time sensor fusion • Reactive behavior • Strategy acquisition • Learning • Real-time planning • Multi-agent systems • Context recognition • Vision • Strategic decision-making • Motor control • Intelligent robot control • and many more From http://www.robocup.org/

  13. Major Domains • From http://www.robocup.org/overview/21.html: • RoboCupSoccer • Simulation League • Small Size Robot League (f-180) • Middle Size Robot League (f-2000) • Sony Legged Robot League (Sony) • Humanoid League (From 2002) • TeleOperation Track (TBA) • RoboCup Commentator Exhibition • RoboCupRescue • Rescue Simulation League • Rescue Robot League • RoboCupJunior • Soccer Challenge • Dance Challenge • Rescue Challenge

  14. Introduction: AAAI Robot Competitions • 1n 1992, Tom Dean and Pete Bonasso convinced the American Association for Artificial Intelligence (AAAI) to host a robot competition at the National Conference on AI • Patrick Hayes: “cognitive possibilities for mobile robots” “the long-standing symbiotic relationship between AI and robots” • Pete Bonasso: “in the spirit of trying to develop as animate, responsive, and intelligent robot behavior as possible”

  15. History 1 • 1992: Robots explored a large arena containing easily detected obstacles along with conspicuously marked objects to be located by the robots • 1993-1995: Some form of navigation task was maintained, along with a simple manipulation task • All the robots that competed in the events accomplished the tasks in 1995 • Office Delivery Event • Office Cleanup Event

  16. History 2 • 1996: The Tennis Court Cleanup task; robots collect numerous tennis balls strewn about the arena and deposit them in a bin • Complicated by battery-powered, quickly moving “squiggle balls” • Top two entries: M1 from Newton Labs (purely reactive), JEEVES from CMU (symbolic reasoning) • 1997: • The Hors d’Oeuvres, Anyone? Event, robots serve food to attendees at the conference’s banquet • Find Life on Mars Event • Home Vacuum Event

  17. History 3 • 2000: Rescue Competitions; robots explore an arena that simulates a post-earthquake environment for surviving humans • 2000: The Mobile Robot Challenge; a robot attends the AAAI conference and presents a talk about itself (including registration, finding the conference room, Q&A, etc.)

  18. Urban Search and Rescue Events 1 • In summer 2001, before the 9/11 event, the RoboCup Rescue Physical Agent League Competition was held in conjunction with the AAAI Mobile Robot Competition Urban Search and Rescue event • Center for Robot-Assisted Search and Rescue (CRASAR) sent four teams to the WTC disaster: • Foster-Miller (Boston) • iRobot (Boston) • US Navy’s Space Warfare Center (SPAWAR) • University of South Florida (USF)

  19. Urban Search and Rescue Events 2 CAUTION! • Levels of competence • Robust teleoperation with basic mixed-initiative capabilities • Intelligent assistance • Semiautonomous control • Victim assessment • Metric map making and planning • Structural assessment • Adaptive shoring: selectively brace critical points to prevent subsequent collapse • Trapped victim assistance

  20. Images 1 • Asimos demonstrating penalty kicks (PKs)

  21. Images 2 • Robots demonstrating penalty kicks (PKs)

  22. Images 3 • Individual and team dances

  23. Images 4 • Dance team Viki

  24. Images 5 • Hoap kicking a ball

  25. Images 6 • Junior soccer league

  26. Images 7 • Legged soccer league

  27. Images 8 • Middle size league

  28. Images 9 • Small size league

  29. Images 10 • Simulation soccer league

  30. Images 11 • Rescue robots

  31. Images 12 • Rescue simulation

  32. Websites • www.aaai.org • www.robocup.org • Images are from www.robocup.org, of the Fukuoka/Busan Robocup 2002

  33. Readings • RoboCup-2001: Robot Soccer World Cup V, Springer-Verlag, 2002 • RoboCup-2000: Robot Soccer World Cup IV, Springer-Verlag, 2001 • RoboCup-99: Robot Soccer World Cup III, Springer-Verlag, 2000 • RoboCup-98: Robot Soccer World Cup II, Springer-Verlag, 1999 • RoboCup-97: Robot Soccer World Cup I, Springer-Verlag, 1998 • The RoboCup Physical Agent Challenge Phase-I RoboCup-97, Springer-Verlag, 1998 • RoboCup: The Robot World Cup Initiative in Proc. of The First International Conference on Autonomous Agent (Agents-97)), Marina del Ray, The ACM Press, 1997. • RoboCup: A Challenge AI Problem, AI Magazine, Spring, 1997. • The RoboCup Synthetic Agent Challenge 97, Proc. of IJCAI-97, 1997. • RoboCup as a Research Program IROS-97, Grenoble, 1997. • RoboCup in Proc. of IJCAI-95 Workshop on Entertainment and AI/Alife, Montreal, 1995.

  34. References • Balch, T. and H. A. Yanco (2002). Ten Years of the AAAI Mobile Robot Competition and Exhibition: Looking Back and to the Future, AI Magazine, 23(1):13-22. • Murphy, R., J. Blitch, and J. Casper (2002). AAAI/RoboCup-2001 Urban Search and Rescue Events: Reality and Competition, AI Magazine, 23(1):37-42. • J. L. Casper and H. A. Yanco (2002). AAAI/RoboCup-2001 Robot Rescue, AI Magazine, 23(1):43-49. • Veloso, M., et al. (2002). RoboCup-2001: The Fifth Robotic Soccer World Championships, AI Magazine, 23(1):55-68.

More Related