Sponsor: Dr. Gita Sukthankar Adviser: Astrid Jackson

1. The NAO Soccer RobotsImplementing soccer behaviors in the Webots simulator for NAO robots.Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr. Gita Sukthankar Adviser: Astrid Jackson Senior Design: Dr. Mark Heinrich

2. Project Objectives • Create autonomous agents with soccer behaviors in a simulation environment • Create resources to guide future students working with the NAO simulator or robots

3. Current State • Soccer simulation code is rare • Most code develop for SimSpark • Complexity through years of iteration • Documentation limited and incomplete • Difficult to adopt for own purposes, not designed for flexibility

4. Solutions by (Senior) Design • Make code public and easily available • Develop in Webots for NAO • Structure low-level design in a modular, easy to approach way • Have thorough and complete documentation • Design code for multiple functions

5. Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

6. Team Development • Windows, Mac, Linux            Linux • Java                                   Python • Choreographe                        Naoqi API • Webots Trackers                    OpenCV

7. Technical Design

8. Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

9. Robot Vision: OpenCV RGB HSV BGR Grayscale

10. Robot Vision: In Code

11. Robot Vision: In Code

12. Robot Vision: Bounding Boxes

13. Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

14. NAOqi: Anatomy of a Kick • Legs fixed to constrains • Balance activated for support leg • Duration for balance leg mode set • 3 lists of actuator settings passed • 3 time steps passed and motion executed

15. NAOqi: Kick Locomotion

16. NAOqi: Decision Making NAO Behavior Tree Goalie

17. NAOqi: Decision Making Behavior → init stance → find ball → block

18. NAOqi: Decision Making NAO Behavior Tree Striker

19. NAOqi: Decision Making Striker Behavior Walk Towards

20. NAOqi: Decision Making

21. Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

22. Resource: Online Wiki

23. Future Applications • Memory of World State, Confidences • Artificial Neural Networks • Locomotion Training with Genetic Algorithms

24. Evaluation Implements proposed solutions?

25. Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf

26. Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots

27. Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication

28. Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü All documentation online: NAO UCF website

29. Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü ü All documentation online: NAO UCF website ü Team templates and plug’n’play BTs/FSMs

30. CS Senior Design Year 1 Complete • Team Soccer Robots created autonomous agents with soccer behaviors in a simulation environment • Team Soccer Robots created resources to guide future students working with the NAO simulator or robots