010.robot-soccer-competitions

The idea of Robot Soccer : 

The idea of Robot Soccer

What is AI? : 

What is AI? Research in AI includes: design of intelligent machines formalization of the notions of intelligence and rational behavior understanding mechanisms of intelligence interaction of humans and intelligent machines.

Objectives of AI : 

Objectives of AI Engineering : costruct intelligent machines Scientific : understand what is intelligence.

Can a robot do these? : 

Can a robot do these? Understand? Simulate its environment? Act rationally? Collaborate and compete? Display emotions? A team of Robots will beat the FIFA World Cup champions by 2050! A bold claim:

RoboCup - Aim : 

RoboCup - Aim ”pushing the state-of-the-art” ”By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup. TO BOLDLY GO WHERE MAN HAS GONE BEFORE (cf. Star Trek) Formalised Testbed

Do you really believe that a team of Robots could beat the FIFA World Cup champions by 2050? : 

Do you really believe that a team of Robots could beat the FIFA World Cup champions by 2050? By all accounts this may sound overly ambitious. In fact, if you compare this goal to other ground breaking achievements it is not ambitious at all. The Wright brothers' first airplane was launched and 50 years later man landed on the moon. Even more recently Deep Blue the computer programmed to play chess, played chess grand master Garry Kasparov and won -- roughly 50 years after the deployment of the first computer. It's a long time. Think what has happened since 1950.

Power of AI : 

Power of AI In 1997 a computer, Deep Blue, won a chess match with world champion Kasparov. Accident? IBM paid Kasparov to loose? Brute force with no intelligence? So, what is intelligence? Is the following AI?

Simulation : 

Simulation Turing test (1950)

Chess versus soccer robot : 

Chess versus soccer robot Difference of domain characteristics between computer chess and soccer robots

Intelligent Agents : 

Intelligent Agents Agents are situated Perception of environment Execution of actions Agents can communicate and collaborate they can differ than can compete and be more or less egoistic/altruistic The agents have: objectives, communications, intentions.

Professor Kim from KAIST : 

Professor Kim from KAIST The founder of Robot Soccer and FIRA president A New Approach Two organizations: 1. FIRA (earlier) 2. RoboCup (larger)

Four Blocks in two PCBs (Printed Circuit Boards) : 

Four Blocks in two PCBs (Printed Circuit Boards) Micro-controller (upper PCB) Communication module (upper PCB) Motor and driving circuits (lower PCB) Power (lower PCB) top view front view side view

Importance of Robot Soccer : 

Importance of Robot Soccer Communication Cooperation Coordination Learning Competence Real Time Robot Soccer Evolution Computer simulations Wheeled brainless robots Wheeled autonomous robots Legged autonomous robots

Robot Soccer Purpose : 

Robot Soccer Purpose “The number one goal of [robot soccer] is not winning or losing, but accumulating diverse technology.” - Mr. Dao (Senior VP of Sony Corporation).

Slide 15: 

Robot Soccer Competitions

Robot Soccer? : 

Robot Soccer? Robot Soccer competitions proposed to help collaborate and evaluate various approaches: Software, hardware, electronics, sensors, motors, theories. Difficult problem, challenge for top universities and industries

FIRA & RoboCup : 

FIRA & RoboCup History Category

Integrating various technologies : 

Integrating various technologies Autonomous agents Collaboration of agents Strategy acquisition Real-time information processing Mobile robotics and robot vision Hardware and software technologies

Slide 19: 

FIRA

Index : 

Index Introduction FIRA & Robocup History Category Discussion Issues PSU soccer robot projects

4th FIRA Robot Soccer World Cup Winners : 

4th FIRA Robot Soccer World Cup Winners Notre Dame school, Campinas, Brazil (Aug 4-8, 1999) MiroSot 1st : RobotIS (Korea) 2nd : SIOR (Korea) 3rd : SOTY IV (Korea) NaroSot 1st : RobotIS (Korea) 2nd : Y2K2 (Korea) 3rd : Olympus (Korea)

RoboCup-99 Stockholm Winners : 

RoboCup-99 Stockholm Winners Stockholm City Conference Center, Stockholm, Sweden(Jul.27 - Aug. 6, 1999) Conjunction with IJCAI-99 Simulation League 1st : CMUnited-99 (USA) Small Size League 1st : The Big Red (USA) Middle Size League 1st : CS Sharif (Iran) Sony Legged Robot League 1st : Les 3 Mousquetaries (France)

History : 

History 1995 - Idea of Robot Soccer Prof. Jong-Hwan Kim (KAIST) Micro-Robot World Cup Soccer Tournament (MiroSot) Int. Organizing Committee for MiroSot (Sep., 1995) Pre-meeting on MiroSot Jul. 29 - Aug. 4, 1996, KAIST 30 teams from 13 countries Clear shape of MiroSot Rule FIRA

1st MiroSot : 

1st MiroSot Nov. 9 - 12, 1996, KAIST 23 teams from 10 countries MiroSot Newton Research Lab. (USA) Single-MiroSot (S-MiroSot) Carnegie Mellon United Team (USA) Formulation of Soccer Robot FIRAhistory

2nd MiroSot : 

2nd MiroSot Jun. 1 - 5, 1997, KAIST 22 teams from 9 countries MiroSot Newton Research Lab. (USA) OverDrive (MR, KAIST) S-MiroSot UFO (MaroTech, Korea) MIRAGE (KAIST) Development of vision technology Vision - 30(60) frames/sec. Beginning of FIRA FIRAhistory

FIRA Robot World Cup : 

FIRA Robot World Cup FIRA Robot World Cup ‘98 Jun. 30 - Jul. 3, 1998, La Cite de Sciences Industrie, Paris, France NaroSot (Nano-Robot World Cup Soccer Tournament) 1st : MIRO III (KAIST) S-KheperaSot (Khepera Robot) 1st : STATIC, (Univ. of Aarhus, Denmark) MiroSot Four FIRA regional championships 1st : The Keys (Human Interface Inc., Korea) Development of vision & motor technology vision - 60 frames/sec motor - 2m/sec FIRA Robot World Cup ‘99 FIRAhistory

Category : 

Category MiroSot NaroSot KheperaSot RaroSot FIRA

MiroSot : 

MiroSot 3 robots on 1 team Size : 7.5cm * 7.5cm * 7.5cm Ball : orange golf ball Playground : black wooden rectangular playground (150cm * 130cm * 5cm) Vision : global vision system (more than 2m above playground) FIRAcategory

Experimental Setupof the Vision System : 

Experimental Setupof the Vision System Control panel

NaroSot : 

NaroSot 5 robots on 1 team Size : 4cm * 4cm * 5.5cm Ball : orange table-tennis ball Playground , Vision : same as Mirosot FIRAcategory

KheperaSot : 

KheperaSot 3 robots on 1 team Ball : yellow tennis ball Playground : green playground (105cm * 68cm * 20cm) Robot : Khepera Robot Vision : K213 Vision Turret FIRAcategory

RoboSot : 

RoboSot 3 robots on 1 team Size : 15cm * 15cm * 30cm Ball : red roller-hockey ball Playground : black wooden rectangular playground (220cm * 150cm * 30cm) Vision : on the robot Under preparation FIRAcategory

RoboCup : 

RoboCup A project directed by Carnegie Mellon University (CMU) Robot World Cup Soccer Games and Conferences Robots working, playing, and competing against each other Revolution in science and entertainment Breakthrough in the fields of robotics and AI Goal: to culminate all the challenges in AI like temporal reasoning, machine learning, vision processing, obstacle avoidance, perception, cognition and motion control

Started in 1993……. : 

Started in 1993……. In RoboCup 1999 there were more than 1500 researchers actively participating within the RoboCup initiative. … and the number is still increasing.

Leagues of RoboCup : 

Leagues of RoboCup Simulator League Small Robot League Full Set Small Robot League, which is 11 robots per team (F-180) Middle Size Robot League (F2000) Legged Robot Games Sony Legged Robot League (Sponsored by Sony) Humanoid League (From 2002, demonstration may take place before 2002) TeleOperation Track (to be announced) RoboCup Commentator Exhibition, Related Competitions (rescue, actors, etc).

Various levels : 

Various levels real robot leagues software agent league special skill competition

History : 

History Jun. 1993 - Robot J-League Minoru Asada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki Kitano(SONY) Robot World Cup (RoboCup) Sep. 1993 - first public announcement Minour Asada, Manuela Veloso(CMU) 1995 - first simulator for soccer games Itsuki Noda(ETL) C++ version soccer server v1.0 IJCAI-95 : first public demonstration 1996 - Pre-RoboCup-96 Nov. 4-8, 1996, Osaka, IROS-96 8 teams for simulation league, demonstration of middle size league Robocup

History : 

History RoboCup-1997 Nagoya, Japan, IJCAI 97 RoboCup-1998 Paris, France, MAAMAW AI*IA, Padova, Italy, September 1998 RoboCup-1999 Stockholm, IJCAI 99 RoboCup Euro 2000 Amsterdam RoboCup-2000 Melbourne RoboCup Japan Open 2001 Fukuoka RoboCup German Open 2001 Paderborn RoboCup-2001 Seattle, USA

RoboCup 97 Nagoya : 

RoboCup 97 Nagoya Aug 23 - 29, 1997, Nagoya, Japan Conjuction with IJCAI-97 Simulator league 33 teams: USA=8, Europe=8, Australia=2, Japan=15 1st : AT Humboldt (Humboldt Univ., Germany) Small size robot league 4 teams : USA, France, Spain, Japan 1st : CMUnited (CMU, USA) Middle size robot league 5 teams : USA, Australia, Japan 1st : Dreamteam (USC, USA), Trakies(Osaka Univ., Japan) Expert Robot Exhibit

RoboCup 98 Paris : 

RoboCup 98 Paris Jul. 2-9, 1998, La Cite de Sciences Industrie, Paris, France Conjunction with ICMAS-98 Middle size league 1st : CS-Freiberg, Germany Small size league 1st : CMUnited98 (CMU, USA) Simulator league 1st : CMUnited98 (CMU, USA) Exhibitions Full set small size robot league (11 robots) Legged robot game LEGO robot football demonstration Webot simulator league

Simulation League : 

Simulation League

Slide 43: 

Simplified problem … World is two-dimensional. Players are points. Simplified control of movements No collisions and conflict solving. Simulator League: Simulation of soccer using artificial intelligence programs. Each team consists of eleven autonomous software players. Sophisticated rules apply in this league.

Simulation League : 

Simulation League Each Team consisting of 11 programs, each controlling 1 of 11 simulated team members The game takes place on a soccer software server Motion, energy and distributed sensing capabilities are resource bounded Time 11 minutes Communication is available between players and strict rules are enforced e.g. offsides Mainly for researchers interested in complex multi-agent reasoning and learning issues but don’t have the resources for building real robots

Simulation League : 

Simulation League Client-server system Server : virtual field Client : brain, control Communication : UDP/IP Open system Clients can be written by any programming systems.

SoccerServer : 

SoccerServer

Slide 47: 

SoccerMonitor

Architecture : 

Architecture Human arbiter Blue coach Red coach

Example - University team : 

Example - University team Entirely written in Java. Is built upon mainly decision trees 10-15 threads running per player… however most of the time the threads is a sleep. Approx. 22 000 lines of code, and increasing! Written by 4 persons Simulator League:

Small-Size League : 

Small-Size League

Small-Size League (F-180) : 

Small-Size League (F-180) Field: 2.7 m x 1.5 m teams of autonomous small size robot play soccer game on a field equivalent to a ping-pong table. Each team consists of 5 robots. Size Area : 18cm rule (fit inside in 18cm diameter cylinder) Height : 15cm (global vision), 22.5cm (otherwise)

Small size league : 

Small size league The field is the size and color of a Ping Pong table

orange golf ball : 

orange golf ball Robots move at speeds as high as 2 meters/second Global vision is allowed

Robot Soccer Initiative : 

Robot Soccer Initiative Basic Architecture for Robot Soccer Systems Robots on the playing field Host computer Host computer Vision system Communication System Communication System “Brainless” System

Vision System : 

Vision System Vision : global vision system(more than 3m above ground)

Small-Size League : 

Small-Size League 20 minutes, 2 breaks

Real Robot Small-Size League Competition : 

Real Robot Small-Size League Competition

Middle-Size League : 

Middle-Size League

Middle-size Real Robot League (F-2000): : 

Middle-size Real Robot League (F-2000): The field is the size and color of a 3 x 3 arrangement of Ping Pong tables (9-3 5-meter field) Each team consists of 5 robots playing with a Futsal-4 ball (4 players, one goal-keeper) Larger (50 centimeters in diameter) robots Global vision is not allowed. Each robot has its own vision system Goals are colored Field is surrounded by walls to allow for distributed localization through robot sensing Rule structure based on the official FIFA rules

Medium size league : 

Medium size league Teams of autonomous mid size robots

Real Robot Middle-Size League Competition : 

Real Robot Middle-Size League Competition Ball : red small soccer ball (FIFA standard size 4 or 5) Playground : green playground (10m * 7m * 0.5m)

Medium Size League : 

Medium Size League

Slide 64: 

Medium Size League

Robots can be heterogenous : 

Robots can be heterogenous

Middle-Size League : 

Middle-Size League

Sony Legged Robot League : 

Sony Legged Robot League

Sony Legged Robot League : 

Sony Legged Robot League 3 robots on 1 team (including the goalkeeper). Robot : AIBO ERS-110 (provided by Sony)

No communication, autonomous robots, software only. Legged Robot League. 2.8 m x 1.8 m2 players and 1 goal-keeper in a team : 

No communication, autonomous robots, software only. Legged Robot League. 2.8 m x 1.8 m2 players and 1 goal-keeper in a team

Sony Legged Robot League : 

Sony Legged Robot League Is played on a field, approx 3x2 meter Sony develops the robots, and provides a interface for the programming of the robots.

Slide 73: 

No Hardware modification is allowed Playing time is 10 minutes per half, with a 10 minute break at halftime

Slide 74: 

Do different Robots have different personalities? Some teams have robots with very different capabilities. But it is hard to think of them as having personalities; rather the robots have different playing styles.

Early Sony prototype : 

Early Sony prototype

Slide 77: 

Robot movements closely mirror those of animals

Slide 78: 

The winner is the team that scores the most goals. In the event of a tie, a sudden death penalty kick competition will determine the winner

The Legged Robot League : 

The Legged Robot League

The Legged Robot League : 

The Legged Robot League If opposing teams' robots are damaged or play is excessively rough (whether intentional or not), penalties may be assessed to the offending robot

System Comparisons : 

System Comparisons Brain-on-board system Merits Demerits Research purpose Robot -based system Low cost Easy to develop Cannot use local sensors High computing power & fast sampling time Suitable for many agents Can use local information Complex and expensive robots. Hard to build the system Suitable to modularize Risk of inconsistent property between host computer and robot system Vision system Multi-agent theory Robot system Multi-agent system development Robot-based and vision-based systems Remote-brainless system

Humanoid League : 

Humanoid League

Starting 2002, the humanoid league : 

Starting 2002, the humanoid league

Humanoid League : 

Humanoid League Bi-Ped League (Humanoid) Australia Japan

RobotCup-Rescue : 

RobotCup-Rescue RoboCup-Rescue Simulation Project is a new practical domain of RoboCup A new initiative on search and rescue for large scale disasters A generic urban disaster simulation environment constructed on network computers Heterogeneous intelligent agents such as fire fighters, commanders, victims, volunteers, etc. conduct search and rescue activities in this virtual disaster world Goal: to enlighten citizens about accurate damage predictions, decision support in real disasters, and emergence of better disaster prevention strategies

Robocup-Junior : 

Robocup-Junior Initiative to promote educational aspects regarding RoboCup and advanced robotics topics children below 18 years old participate in the RoboCup-Junior games promotes participation by under-graduates, non-science graduates and general public, who are interested in RoboCup, but do not have the effort to get involved in the RoboCup World Cup games

Competitors : 

Competitors Simulation Japan Iran Singapore USA Russia Germany Romania Portugal Catalonia Italy England Finland Sweden Australia F-180 (Small Size) Australia Belgium Catalonia China Denmark Germany Japan Korea New Zealand Portugal Singapore USA F-2000 (Middle Size) Italy Australia Germany Iran Japan Portugal Singapore USA Sony Four Legged USA France Japan Australia USA Canada Germany Sweden Italy England Champions: 1 USA, Cornell 2 Germany 3 Singapore Champions: 1 Portugal 2 Germany 3 USA, CMU Champions: 1 Germany 2 Italy 3 Iran Champions: 1 Australia 2 France 3 USA, CMU

Online References : 

Online References http://www.robocup.org http://www.robocup2000.org http://world.sony.com/dream/robocup/robocup2000/ http://robomec.cs.kobe-u.ac.jp/robocup-rescue/ http://www.artificialia.com/RoboCupJr/ http://www.namultimedia.com/robocup/ http://parrotfish.coral.cs.cmu.edu/robocup-small/ http://owl.informatik.uni-ulm.de/ROBOCUP/

Problems : 

Problems 1. Propose other robot sports in addition to soccer and sumo. Wrestling? Volleyball? Fencing? Write the rules and design a robot to play them. What will be technical and what will be the scientific challenge. 2. Design the rules for walking robots playing soccer. Design the field. How to control the camera. Do we need sensors and for what? Where are they located?