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RoboCup:
The Robot World Cup Initiative
Based on Wikipedia and presentations by
Mariya Miteva, Kevin Lam, Paul Marlow
What is RoboCup?
RoboCup is an international robotics competition The official goal of the projectBy mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, complying with the official rule of the FIFA, against the winner of the most recent World Cup. Sample Game VideoThe Different Competitions
RoboCup SoccerSmall sizeMiddle sizeFour-leggedHumanoidSimulationRoboCup RescueRoboCup JuniorSoccer Challenge Dance Challenge Rescue Challenge GenerealExamples of RoboCup Leagues
four-leggedsmall sizemiddle sizesimulationRoboCup as a Standard AI Problem
Standard problems are the driving force of AI research. For example, research on chess lead to the discovery of powerful search algorithms.AI research should be focused on solving real life problems, but often face social or economic constraints. RoboCup is designed to meet the need of handling real world complexity, though in a limited environment, while maintaining an affordable problem size and research cost.Why is soccer a good option?
Soccer challengesdynamic environmentreal-time decision making and actionhigh level of uncertainty and incomplete informationsensor-acquired informationdistributed control and cooperationAreas of research include 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, etc.Rules
There are real robot, special skill, and simulation competitions, each having different rules usually controlled by human referees.In real robot competitions attributes of the environment such as the size of the field and the goal, the colors of the field, balls and robots, the maximum number of robots in a team, etc. are predetermined and differ from league to league. Most physical fouls are considered unintentional and ignored.More Rules
In simulation RoboCup a Soccer Server provides the virtual environment and controls the communication between the virtual robots and their control programs.Robots do not know their exact position, but only their position relative to landmarksSimulation allows development of advanced coordination systems without the physical constraints of real robotsResearch Issues:
The goal of the competitions is to stimulate research and advancement in both designing and programming robots.The major areas of interest according to the article are:Collaboration in a multi-agent environmentDesign and controlVision and sensor fusionLearningCollaboration
Each team has common goal (to win the game) , incompatible with the goal of the opponent team, and several subgoals (scoring) team-wide strategies to fulfill the common goal and local and global tactics to achieve subgoalsComplications:Dynamic environmentLocally limited perceptionDifferent roles of team playersLimited communication among playersTrade-off between communication cost and accuracy of the global planFinal goal - promising local plans at each agent and coordination of these local plansRoboCup Simulator
Server
Monitor clients
Player clients (i.e. agents!)
Coach clients
Sample Team Strategy
Design and Control
Existing robots have been designed to perform mostly single behavior actionsA RoboCup player needs to perform multiple subtasks( shooting, passing, heading, throwing, etc.) and meanwhile avoid opponentsTwo approaches in building a RoboCup player:A combination of many specialized componentsOne or two multitasking componentsThe final goal of building a successful Humanoid Soccer Player currently appears to be unfeasibleVision and Sensor Fusion
Computer Vision researchers have been seeking for 3D reconstruction of 2D visual information3D reconstruction is too time-consuming for a RoboCup player to react in real time, Other sensors (sonar, touch and force) need to be incorporated to provide further information, which can not be acquired by visionA method of sensor fusion/integration is necessaryRobot Vision VideoRobot Vision Video 2Learning
Because of the dynamic and uncertain RoboCup environment, programming robot behaviors for all possible situations is impossible.Reinforcement learning is promising in RoboCup, since it allows acquisition of advanced behaviors with little prior knowledge.Almost all existing reinforcement learning has been used in computer simulation, but not in physical applications.Learning
Robots first learn skills in one to one competitions.To simplify the process, task decomposition is implemented two skills are independently acquired and then coordinated through learning Later on, many-to-many competitions are considered. Its hard to find a simple method for learning collective behavior Pattern finding methods or coordination by imitation are used The most difficult task is integration of the learning methods in a physical environment.Current Champions 2008 (Germany)
SoccerSmall Sized: Fu-Fighters (German) Middle Sized: EIGEN Keio Univ (Japan) 4 Legged: German Team (German) Humanoid 2-on-2: Team Osaka (Japan) 2D Simulation: Brainstormers 2D (Germany) 3D Simulation: Aria (Iran) RescueSimulation: Impossibles (Iran) Robot: Toin Pelican (Japan)DistributedCentralControl
Non-
symbolic
Symbolic
Sensor
Readings
IncompleteComplete
Information
accessibility
Real timeTurn takingState Change
DynamicStaticEnvironment
RoboCupChess
DistributedCentralControl
Non-
symbolic
Symbolic
Sensor
Readings
IncompleteComplete
Information
accessibility
Real timeTurn takingState Change
DynamicStaticEnvironment
RoboCupChess