RoboCup 2011: Robot Soccer World Cup XV PDF
Preview RoboCup 2011: Robot Soccer World Cup XV
Lecture Notes in Artificial Intelligence 7416 Subseries of Lecture Notes in Computer Science LNAISeriesEditors RandyGoebel UniversityofAlberta,Edmonton,Canada YuzuruTanaka HokkaidoUniversity,Sapporo,Japan WolfgangWahlster DFKIandSaarlandUniversity,Saarbrücken,Germany LNAIFoundingSeriesEditor JoergSiekmann DFKIandSaarlandUniversity,Saarbrücken,Germany Thomas Röfer N. Michael Mayer Jesus Savage Uluç Saranlı (Eds.) RoboCup 2011: Robot Soccer World Cup XV 1 3 SeriesEditors RandyGoebel,UniversityofAlberta,Edmonton,Canada JörgSiekmann,UniversityofSaarland,Saarbrücken,Germany WolfgangWahlster,DFKIandUniversityofSaarland,Saarbrücken,Germany VolumeEditors ThomasRöfer DeutschesForschungszentrumfürKünstlicheIntelligenz,Cyber-PhysicalSystems Enrique-Schmidt-Str.5 28359Bremen,Germany E-mail:[email protected] NorbertMichaelMayer NationalChungChengUniversity,DepartmentofElectricalEngineering 168UniversityRoad 62102Min-Hsiung,Chia-Yi,Taiwan E-mail:[email protected] JesusSavage UniversidadNacionalAutonomadeMexico,Bio-RoboticsLaboratory CP04250Mexico,D.F.,Mexico E-mail:[email protected] UluçSaranlı MiddleEastTechnicalUniversityAnkara,DepartmentofComputerEngineering 06531Ankara,Turkey E-mail:[email protected] ISSN0302-9743 e-ISSN1611-3349 ISBN978-3-642-32059-0 e-ISBN978-3-642-32060-6 DOI10.1007/978-3-642-32060-6 SpringerHeidelbergDordrechtLondonNewYork LibraryofCongressControlNumber:2012942791 CRSubjectClassification(1998):I.2,C.2.4,D.2.7,H.5,I.4,J.4 LNCSSublibrary:SL7–ArtificialIntelligence] ©Springer-VerlagBerlinHeidelberg2012 Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialis concerned,specificallytherightsoftranslation,reprinting,re-useofillustrations,recitation,broadcasting, reproductiononmicrofilmsorinanyotherway,andstorageindatabanks.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965, initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violationsareliable toprosecutionundertheGermanCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply, evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelaws andregulationsandthereforefreeforgeneraluse. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface Fifteen yearsago,RoboCup started with the vision“By the mid-21st century,a teamoffully autonomoushumanoidsoccerplayersshallwinthe soccergame[..] againstthe winner of the most recent World Cup,”a landmark project that has attractedalargenumberofinternationalresearchersovertheyears,theRoboCup community.Sincethebeginning,enormousprogresshasbeenmade.RoboCuphas alsobroadeneditsfocusbyaddressingeducation(RoboCupJunior)aswellasre- searchfieldsclosertoapplications(RoboCupRescueandRoboCup@Home). The RoboCup Symposium is the scientific core meeting of the RoboCup community.While the RoboCupcompetitions anddemonstrationsshowcasethe effectiveness of the systems in practice, the RoboCup Symposium answers the question of how they work. Each year the RoboCup Symposium is held on a different continent. In 2011, with Istanbul playing host, the 15th RoboCup Symposium became the first to take place on two continents at once. We decided to organize the Symposium as a single track conference in 2011. Thegreatadvantageofthisisthatitallowedallparticipantstoattendallsessions of the symposium. Thus, we blured the classic separation of RoboCup into the three major areas of soccer, rescue, and service robotics. To further blur these distinctions, oral presentations in the three sessions were not divided by particulartopic,butjumpedbetweendifferentareasandleagues. Thisapproach demonstratedthebreadthanddepthofresearchwithintheRoboCupcommunity and is reflected by the sequence of the papers in this book. The consequence of a single-track schedule is that it results in a smaller number of talks. This was offset by presenting the majority of papers during two poster sessions, which allowed for greater interactions between presenters andtheiraudience.Tounderlinethe importanceofthe posterpresentationsand to make the participants’ choice about which posters to visit more informed, each poster session was preceded by a plenary presentation of so-called poster teasers, i.e., micro-talks of one minute and one slide per poster. Forthe 15thRoboCupSymposium,wereceived97papersubmissions,cover- ing all areas of RoboCup research. All papers were carefully reviewed by the International Program Committee. Each submission was examined by three members of the Program Committee and the final decision was made by the Co-chairs. Twelve papers were selected for oral presentation and 32 for poster presentation. The authors J¨org Stu¨ckler and Sven Behnke received the best pa- per award for their contribution on“Compliant Task-Space Control with Back- Drivable Servo Actuators.” The RoboCup Symposium has a long tradition of inviting keynote speakers from outside the RoboCup community who have made outstanding contribu- tions in the field of artificial intelligence. The speakers at the RoboCup 2011 Symposium, Luc Steels and Dieter Fox, talked about their ongoing research. VI Preface Luc works on language processing and humanoid robots, and asked the ques- tion“WhenWillThey Startto Speak?”.Dieter discussedthe mosttalked-about sensorofthe previousyearinhiskeynoteentitled“RGB-DCameras:Challenges and Opportunities”. Anothersymposiumtraditionis the paneldiscussion.Incontrasttoprevious years,where the panelists were usually RoboCupofficials,in 2011the leadersof someofthe winningteamsdiscussedthe question“WhatDoesItReallyTaketo Win?”. The goal will be to develop a general perspective on the challenges of RoboCup built from the insights of the competition winners and their methods andapproaches.Theywerealsoinvitedtocontributetothisbookwithonepaper perleague.These“ChampionPapers”werereviewedbymembersofthetechnical committees of the respective leagues and those accepted start the main part of this book. We wantto thank the RoboCupOrganizingCommittee for making the local arrangements, which worked out very well. In particular we want to thank the General Chair for RoboCup 2011, H. Levent Akin, and his Co-chairs, C¸etin Meric¸li and Tekin Meri¸cli. We would also like to thank the organizers of the previous RoboCup Symposium, who were very helpful and let us benefit from their experience.Further, we would like to thank all of the ProgramCommittee members for their hard work and the great job of reviewing they did. Last but not least, we want to thank all of the authors for their contributions. The next RoboCup competition will run during June 18–24, 2012, in Mexico City with the conjoint symposium taking place on June 24. March 2012 Thomas R¨ofer Norbert Michael Mayer Jesus Savage Uluc¸ Saranlı RoboCup Leagues in 2011 RoboCup consists of the four main areas RoboCupSoccer, RoboCupRescue, RoboCup@Home, and RoboCupJunior. Most of these areas are divided into a number of leagues that address different aspects of their overall research goals. While RoboCupJunior is presented on pages 63ff., the major leagues are de- scribedbytheirRoboCupExecutiveCommitteemembersonthefollowingpages. Soccer Simulation League Akiyama, Hideisa AIST, Japan Dorer, Klaus Hochschule Offenburg, Germany Talay, Sanem Sariel Istanbul Technical University, Turkey Soccer Small Size League Akar, Mehmet Bo˘gazi¸ci University, Turkey Sukvichai, Kanjanapan KasetsartUniversity, Thailand Weitzenfeld, Alfredo USF Polytechnic, USA Soccer Middle Size League Cunha, Bernardo University of Aveiro, Portugal Merry, Roel Eindhoven University of Technology, The Netherlands Takemura,Yasunori Nippon Bunri University, Japan Soccer Standard Platform League Lagoudakis,Michail Technical University of Crete, Greece Lee, Daniel University of Pennsylvania,USA Hall, Brad University of New South Wales, Australia Kaminka, Gal Bar Ilan University, Israel Soccer Humanoid League Baltes, Jacky University of Manitoba, Canada Lupian, Luis F. Universidad La Salle, Mexico Behnke, Sven University of Bonn, Germany Rescue Robot League Pellenz, Johannes University of Koblenz-Landau,Germany Kimura, Tetsuya Nagaoka University of Technology, Japan Mihankhah, Ehsan K. N. Toosi University of Technology, Iran Suthakorn, Jackrit Mahidol University, Thailand VIII RoboCup Leagues in 2011 Rescue Simulation League Ito, Nobuhiro Aichi Institute of Technology, Japan Balakirsky,Stephen NIST, USA Kleiner, Alexander Freiburg University, Germany @Home League Iocchi, Luca Sapienza University of Rome, Italy Ruiz-de-Solar,Javier Universidad de Chile, Chile van der Zant, Tijn University of Groningen, The Netherlands Sugiura, Komei NICT, Japan Soccer Simulation League SoccerSimulationissplitintotwosubleagues:2Dsimulationand3Dsimulation. 2D Simulation In 2D simulation, two teams of 11 simulated autonomous player agents and a coach agent play a game of soccer with very realistic rules and game play. In 2011, two major changes were introduced: the red card rule and the improved ball catch model for goalie agents. When a player performs an intentional foul command,anautomaticrefereemightdetect the redcardrule.Inthatcase,the player is sent off the field and the team has to reconsider its strategy. The current major research topics in 2D simulation are flexibility and an online adaptation. Some teams introduced new approaches such as an online tactics planning method and a strategy management using a coach agent. In future competitions, online coaching techniques will become more important in order to adapt to the environment. In all, 20 teams from 11 countries passed the qualification and finally 17 teams participated in the 2D competition. The winner was WrightEagle from theUniversityofScienceandTechnologyofChina(China),followedbyHELIOS from Fukuoka University, Osaka Prefecture University and AIST (Japan), and MarliK from University of Guilan (Iran). 3D Simulation In3Dsimulation,simulatedNaorobotsplayinaphysicallyrealistic3Denviron- ment. It is therefore more similar to real robot leagues than 2D simulation yet has the advantages of simulation that allow one to play in big teams, simplify learning approaches,and simplify robot model changes. The 2011 competition introduced a couple of new features. The games were run in 9 vs. 9 player mode (was 6 vs. 6 in 2010). The field size was increased to keepthespaceperplayerroughlyconstant.Newcrowdingruleswereintroduced to keep the number of players approaching the ball at a reasonable level. If two players of the same team are closer than 1 m to the ball, the farther of the two is beamed outside the field by the automated referee. Also, the number of defenders inside the goal area was limited to two. Both changes improved game RoboCup Leagues in 2011 IX quality considerably.Moreover,a new visualizationsoftware,roboViz, was used to show the games. Appart from high-end 3D graphics, it was used for the first time to allow spectators to watch the games in 3D using a specialized beamer and 3D glasses. Technically,teamsshowedimprovedwalkingskills,anewskilltokicktheball high, a skill to kick the ball while running, backward pull kicks, and improved get-up behaviors. Inall,22teamsfrom12countriesparticipatedinthe3Dsimulationcompeti- tion.ThewinnerwasUTAustinVillafromtheUniversityofTexas(USA)followed by CIT3DfromChangzhouInstitute ofTechnology(China)andApollo3Dfrom Nanjing University (China). Soccer Small Size League The Small Size League (SSL) is one of the more exciting leagues of RoboCup, as two teams each consisting of 5 robots with limited size (max height 15 cm, max diameter 18 cm) play soccer at a high pace with an orange golf ball on a 6.05 m-by-4.0 5m green carpeted field. All objects on the field are tracked by a standardized vision system and off-field computers are used to communicate referee commands and position information to the robots. In SSL, building a successfulteamrequirescleverdesign,implementation, andintegrationofmany hardwareandsoftwaresub-componentsintoarobustlyfunctioningwhole;hence, SSL soccer remains a very interesting and challenging domain for research and education. The journey to SSL 2011 started when 28 teams from 12 different countries declared their interest in participation by submitting a pre-registrationnote by January 31, 2011. The deadline for submission of team description papers and videosfor allteams wasthe endofFebruary,after which21teams werechoosen to participate in the tournament while two teams were conditionally qualified, with the requirement that they would demonstrate sufficient game play before the games started. Later, two teams dropped out owing to financial problems; however, the remaining 20 teams from 11 countries participated in RoboCup 2011.These20teamslistedinTable1playedeachotherfirstinfourgroupsand then the games continued based on elimination starting from the second round, at the end of which team Skuba was the winner, Immortals the runner up, and MRL got the third place. Two technicalchallenges (Dynamic Navigation and Mixed Team Match) and a(LargeField)demowasheldinIstanbul2011.TheaimoftheDynamicNaviga- tiontechnicalchallenge,wastoexaminetheabilityofrobotstosafelynavigatein a dynamic environment (Winner: Skuba, 2nd place: MRL, 3rd place: Thunder- bots). The Mixed Team Match technical challenge,which was also won by team Skuba,wasafullmatchbetweenmixedteams,eachcomposedoffiverobotsfrom two different SSL teams. The Large Field demo was carriedout on a largerfield twice as big as the regularone, with the objective of exploringthe possibility of carrying out future SSL games on larger fields. X RoboCup Leagues in 2011 Table 1. Teams that participated in SSI2011 Countryof OriginTeams Brazil RoboFEI Canada Thunderbots China ZjuNlict Colombia STOxs,Bochica Germany ER-Force,Tigers Mannheim Iran Immortals, MRL, Parsian, Cyrus Japan RoboDragons, KIKS,ODENS Mexico Eagle Knights Thailand Skuba Turkey BRocks, RoboTurk USA RoboJackets, RFCCambridge Soccer Middle Size League The Middle Size Leagueis,forthe time being,the bestinterfaceleaguebetween Simulated 2D Soccer and real, fully autonomous, nonhumanoid robots. In this league robots of up to 50 cm in diameter and 80 cm in height play soccer in teams of up to five robots, using a regular size FIFA soccer ball on a field sim- ilar to a scaled human soccer field (currently 18 m × 12 m). Robots are fully autonomous with all sensors on-board. Cooperation is established by means of limited bandwidth wireless communication between team robots, and between robots and a nonoperated computer base station that can act as a coach. No human interaction with the robots is allowed. The current research focus is on cooperationatalllevels,fromteamcoordinationusingdynamic roleassignment toattackanddefenseplanning,goingthroughactiveingameballpassing.Coop- erationbetweenheterogeneousrobots,3Defficientfastroboticvision,immunity to environment variable conditions (such as illumination changes), and percep- tion levels are among other lines of research in this league. The 2011 event presented some significant achievements mostly in the coop- erationarea,withagrowingnumberofteamsperformingactiveingamepassing, and in robustness and reliability of hardware and software (the first game ever played without the need to remove any robot from the field during the over- all game). A demonstrationon how to incorporate software from 2D simulation in robot team coordination using dynamic role and positioning assignment and role-based set-plays won the Scientific Challenge, while Hibikino-Musashi won theTechnicalChallengeinvolvingplayingwitharbitrarycoloredballs,dribbling while navigating on a cluttered area, and team play with passing and scoring. A total of 15 teams qualified for the 2011 RoboCup event. From those, 12 actually participated in the competition, representing teams from Europe, Asia,MiddleEast,andAustralia.Thecompetitionwasorganizedinthreeround robins followed by Mid-Finals and the Final. Table 2 shows the top eight final classification. RoboCup Leagues in 2011 XI Table 2. Final classification RankTeam Origin Country 1 Water Beijing I.S. T. University China 2 Tech United EindhovenEindhovenUniversityof TechnologyThe Netherlands 3 CAMBADA IEETA/DETI,University of Aveiro Portugal 4 RFCStuttgart Universityof Stuttgart Germany 5 MRL Qazvin Islamic Azad University Iran 6 Hibikino-Musashi Universityof Kitakyushu Japan 7 Carpe Noctem Universityof Kassel Germany 8 ISePorto LSA-ISEP Portugal Soccer Standard Platform League The Standard Platform League (SPL) [www.tzi.de/spl]of the RoboCup com- petitionisuniqueamongtherobotsoccerleagues,inthatallparticipatingteams compete with identical robot platforms, thereby accentuating advances in algo- rithmicdevelopmentforfullyautonomousrobots.Thecurrentstandardplatform is the humanoid NAO robot, a 21 degrees-of-freedom bipedal robot measuring 58 cm in height and weighing 4.3 kg, built by Aldebaran Robotics in Paris, France. Fig.1. TheSPL championship match held at RoboCup 2011 in Istanbul,Turkey. The2011SPLsoccercompetitionattracted27teamsrepresentinguniversities fromacrossEurope,Asia,Africa,NorthandSouthAmerica,andAustralia.The soccertournamentfeaturedtwoseparateroundrobinqualifyingrounds,withthe ensuing finaleightteams playingin the eliminationround.The games consisted of autonomous teams (of four robots each) playing against each other with an orangehockeyballona4×6-mgreensoccerfieldwithyellowandbluegoalposts, solelyusingvisual,ultrasonic,andproprioceptivesensors.Thematchesconsisted of two 10-minute halves, with ties broken via penalty kick shootouts in the elimination round. The winners of the 2011 SPL soccer competition were:
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