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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!!