RoboCup Introduction

ROBO C UP
A T ESTING E NVIRONMENT FOR M ULTI AGENT S YSTEMS

Hannes Schulz

University of Osnabrück, Department of Cognitive Science

December 13th 2005

O UTLINE

1 W HAT IS ROBO C UP ?
Soccer as a Research Field?
The RoboCup Foundation

2 S ELECTED L EAGUES
2D Simulation League
3D Simulation League
Midsize League
Various others

What is RoboCup? Selected Leagues Soccer as a Research Field? The RoboCup Foundation

50-Y EAR -C HALLENGES I

50 years from Wright Brother’s 1st aircraft to
Apollo mission sending man to moon

Hannes Schulz RoboCup


50-Y EAR -C HALLENGES II

50 years from invention of digital computer to Deep Blue



50-Y EAR -C HALLENGES III?



S OCCER – A N EW T OY P ROBLEM FOR AI

Chess Soccer

Environment static dynamic

Available Infos complete incomplete

Sensor Readings symbolic non-symbolic

Control central distributed

Physical Agent no yes

Time Critical not really yes



ROBO C UP F OUNDATION

International joint project for AI/related ﬁelds

Fosters research by providing standard problem

Aims at innovations to be “applied to socially signiﬁcant
problems and industries”



T HE V ISION

By 2050, develop a team of fully autonomous
humanoid robots that can win against the human
world champion team in soccer.



T HREE A REAS

RoboCup Soccer RoboCup Rescue
(Challenge) (Application)

Rescue Simulation
Simulation (2D+3D)
Rescue Robot
Small Size
RoboCup Junior
Middle Size (Education)

Sony Aibo Soccer Challenge
Dance Challenge
Humanoid
Rescue Challenge


What is RoboCup? Selected Leagues 2D Simulation League 3D Simulation League Midsize League

A P LAYER D ESCRIPTION

Neck Angle
Players vary in:
Body Angle
Speed inc
Player Radius
Kick radius
Kick Radius
Kick randomization
Stamina recovery
time
...



P OSSIBLE ACTIONS IN A C YCLE

(Neck Turn)

Turn

Dash

Kick

Tackle



“P HYSICS ” OF DASHING

pos before dash
Additionaly:
dash
Dash command is exposed
resulting pos to noise
Player stamina is
decreased
Stamina recovers slowly, if
velocity too low:
permanent player damage



T HE V IEW M ODEL

See updates every 150 ms.
Fewer see updates for:
high quality view
wide view angle
With distance
Player numbers blur
α Player team afﬁliations blur
Player positions blur
(logarithmically)



T HE S OCCER FIELD
G EOMETRY AND F LAGS

(52,34)

(0,0)

(-52,-34)

2x11 agents play for 2x5 minutes on real sized soccer ﬁeld



T HE B RAINSTORMERS AGENT

Decision Module
Skills Module
World Tactics
Environment

Model Module Kick Move
Module Intercept Move

Dribble Move



T HE 3D AGENT
A S NAPSHOT OF THE E ARLY Y EAR 2005

Spherical agent
Omnivision
Kicks only away from body
Can drive in any direction
Battery discharges during
dashing/kicking
Physics simulation involves
collision, acceleration,. . .

◮ It’s like today’s robots!



M ORE RULES ?

Similar to 2D: Relaxed rules in 3D league:

2x5 minutes No offside
2x11 agents No jumping (→ low goals)
Battery very powerful
real sized soccer ﬁeld
Kick in all directions
. . . but. . . possible

◮ Room for yearly improvement



G AME S CREENSHOT



RULES

Field Size 6x12m, varying
Agents: ground surface area/weight restrictions
4-6 Agents/Team
WLAN, but no remote control except for referee commands
2x10 min per game

◮ Lots of rules about colors, which player can go to the ball
when. . . (“Discussion League”)



B RAINSTORMERS – F RONT V IEW



W HEELS AND BASE



C ONTROL S TRUCTURE
Control Layer

Control Loop

User Interface Communication
Component Layer

Robot Access Player Behavior Image Processing

World Model

Data Layer data structs for info exchange

Library Layer general algorithms (i.e. geometric)



T IME C( O ) URSE



S ELF L OCALIZATION I



S ELF L OCALIZATION II



S MALL S IZE L EAGUE

Overview



H UMANOID L EAGUE

Overview



S ONY A IBO (“F OUR -L EGGED ”) L EAGUE

Overview



S UMMARY

RoboCup provides toy problem for robotics/AI
RoboCup facilitates research by competition
Different Leagues approach vision of robotic soccer team
from different view points


RoboCup Introduction

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RoboCup Introduction