Transcript Robocup and Robot Competitions

ROBOCUP &
ROBOT COMPETITIONS
Leen-Kiat Soh
November 26, 2007
CSCE475/875 Multiagent Systems
Department of Computer Science and Engineering
University of Nebraska
Fall 2007
Introduction
• This presentation is based on a set of
papers published in late 1990s and
early 2000s and is meant to cover a
range of negotiation research directions
that took place at that time, serving as
an informative overview for students
who are interested in robocup and
robot competitions to pursue more
recent papers in the 2000s
Introduction
• From http://www.robocup.org/overview/21.html:
– To foster AI and intelligent robotics research by providing a
standard problem where wide range of technologies can be
integrated and examined, as well as being used for
integrated project-oriented education
– For a robot team to actually perform a soccer game, various
technologies must be incorporated: design principles of
autonomous agents, multi-agent collaboration, strategy
acquisition, real-time reasoning, robotics, and sensor-fusion
– RoboCup is a task for a team of multiple fast-moving robots
under a dynamic environment
– RoboCup also offers a software platform for research on the
software aspects of RoboCup
History 1
• From http://www.robocup.org/overview/23.html:
– The idea of robots playing soccer was first mentioned by
Professor Alan Mackworth (University of British Columbia,
Canada) in a paper entitled ``On Seeing Robots'' presented
at VI-92, 1992
– Independently, a group of Japanese researchers organized a
Workshop on Grand Challanges in Artificial Intelligence in
October, 1992 in Tokyo, discussing possible grand challenge
problems
• led to a serious discussions of using the game of soccer for
promoting science and technology
History 2
• From http://www.robocup.org/overview/23.html,
cont’d:
– In June 1993, a group of researchers, including Minoru
Asada, Yasuo Kuniyoshi, and Hiroaki Kitano, decided to
launch a robotic competition, tentatively named the Robot JLeague
– Within a month, however, due to overwhelming reactions
from researchers outside of Japan, the project was renamed
the Robot World Cup Initiative, ``RoboCup'' for short
History 3
• From http://www.robocup.org/overview/23.html,
cont’d:
– Concurrent to this discussion, several researchers were
already been using the game of soccer as a domain for their
research
• Itsuki Noda, at ElectroTechnical Laboratory (ETL), Japan, was
conducting multi-agent research using soccer, and started the
development of a dedicated simulator for soccer games. This
simulator later became the official soccer server of RoboCup.
• Professor Minoru Asada's Lab. at Osaka University on soccer
playing robots
• Professor Manuela Veloso and her student Peter Stone at
Carnegie Mellon University on soccer playing robots
History 4
• From http://www.robocup.org/overview/23.html,
cont’d:
– In September 1993, the first public announcement of the
initiative was made, and specific regulations were drafted.
Accordingly, discussions on organizations and technical
issues were held at numerous conferences and workshops,
including AAAI-94, JSAI Symposium, and at various robotics
society meetings
– Meanwhile, Noda's team at ETL announced the Soccer
Server version 0 (LISP version), the first open system
simulator for the soccer domain enabling multi-agent
systems research, followed by version 1.0 of Soccer Server
(C++ Version) which was distributed via the web. The first
public demonstration of this simulator was made at IJCAI-95
History 5
• From http://www.robocup.org/overview/23.html,
cont’d:
– During the International Joint Conference on Artificial
Intelligence (IJCAI-95) held at Montreal, Canada, August,
1995, the announcement was made to organize the First
Robot World Cup Soccer Games and Conferences in
conjunction with IJCAI-97 Nagoya
• The decision was made to organize Pre-RoboCup-96 to identify
potential problems associated with organizing RoboCup on a
large scale
– Pre-RoboCup-96 was held during International Conference
on Intelligence Robotics and Systems (IROS-96), Osaka,
from November 4 - 8, 1996, with eight teams competing in a
simulation league and demonstration of real robot for middle
size league
History 6
• From http://www.robocup.org/overview/23.html,
cont’d:
– The official first RoboCup games and conference was held in
1997 with great success.
• Over 40 teams participated (real and simulation combined),
and over 5,000 spectators attended
Objectives 1
• As a vehicle to promote robotics and AI research, by
offering publicly appealing, but formidable challenge
• RoboCup is a landmark project (like landing a man on
the moon) as well as a standard problem (like chess)
• The Dream
– 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
From http://www.robocup.org/
Objectives 2
• Difference of domain characteristics between
computer chess and RoboCup:
Chess
RoboCup
Environment
Static
Dynamic
State Change
Turn taking
Real time
Info. Accessibility
Complete
Incomplete
Sensor readings
Symbolic
Non-symbolic
Control
Central
Distributed
From http://www.robocup.org/
Objectives 3
• RoboCup offers an integrated research task covering
the broad areas of AI and robotics
–
–
–
–
–
–
–
–
–
–
–
–
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
and many more
From http://www.robocup.org/
Major Domains
• From http://www.robocup.org/overview/21.html:
– RoboCupSoccer
•
•
•
•
•
•
•
Simulation League
Small Size Robot League (f-180)
Middle Size Robot League (f-2000)
Sony Legged Robot League (Sony)
Humanoid League (From 2002)
TeleOperation Track (TBA)
RoboCup Commentator Exhibition
– RoboCupRescue
• Rescue Simulation League
• Rescue Robot League
– RoboCupJunior
• Soccer Challenge
• Dance Challenge
• Rescue Challenge
Introduction: AAAI Robot Competitions
• 1n 1992, Tom Dean and Pete Bonasso convinced the
American Association for Artificial Intelligence (AAAI)
to host a robot competition at the National
Conference on AI
• Patrick Hayes: “cognitive possibilities for mobile
robots” “the long-standing symbiotic relationship
between AI and robots”
• Pete Bonasso: “in the spirit of trying to develop as
animate, responsive, and intelligent robot behavior as
possible”
History 1
• 1992: Robots explored a large arena containing
easily detected obstacles along with conspicuously
marked objects to be located by the robots
• 1993-1995: Some form of navigation task was
maintained, along with a simple manipulation task
– All the robots that competed in the events accomplished the
tasks in 1995
– Office Delivery Event
– Office Cleanup Event
History 2
• 1996: The Tennis Court Cleanup task; robots collect
numerous tennis balls strewn about the arena and
deposit them in a bin
– Complicated by battery-powered, quickly moving “squiggle
balls”
– Top two entries: M1 from Newton Labs (purely reactive),
JEEVES from CMU (symbolic reasoning)
• 1997:
– The Hors d’Oeuvres, Anyone? Event, robots serve food to
attendees at the conference’s banquet
– Find Life on Mars Event
– Home Vacuum Event
History 3
• 2000: Rescue Competitions; robots explore an arena
that simulates a post-earthquake environment for
surviving humans
• 2000: The Mobile Robot Challenge; a robot attends
the AAAI conference and presents a talk about itself
(including registration, finding the conference room,
Q&A, etc.)
Urban Search and Rescue Events 1
• In summer 2001, before the 9/11 event, the
RoboCup Rescue Physical Agent League Competition
was held in conjunction with the AAAI Mobile Robot
Competition Urban Search and Rescue event
• Center for Robot-Assisted Search and Rescue
(CRASAR) sent four teams to the WTC disaster:
–
–
–
–
Foster-Miller (Boston)
iRobot (Boston)
US Navy’s Space Warfare Center (SPAWAR)
University of South Florida (USF)
Urban Search and Rescue Events 2
• Levels of competence
CAUTION!
– Robust teleoperation with basic mixed-initiative capabilities
– Intelligent assistance
– Semiautonomous control
– Victim assessment
– Metric map making and planning
– Structural assessment
– Adaptive shoring: selectively brace critical points to prevent
subsequent collapse
– Trapped victim assistance
Images 1
• Asimos demonstrating penalty kicks (PKs)
Images 2
• Robots demonstrating penalty kicks (PKs)
Images 3
• Individual and team dances
Images 4
• Dance team Viki
Images 5
• Hoap kicking a ball
Images 6
• Junior soccer league
Images 7
• Legged soccer league
Images 8
• Middle size league
Images 9
• Small size league
Images 10
• Simulation soccer league
Images 11
• Rescue robots
Images 12
• Rescue simulation
Websites
• www.aaai.org
• www.robocup.org
• Images are from www.robocup.org, of the
Fukuoka/Busan Robocup 2002
Readings
•
•
•
•
•
•
•
•
•
•
•
RoboCup-2001: Robot Soccer World Cup V, Springer-Verlag, 2002
RoboCup-2000: Robot Soccer World Cup IV, Springer-Verlag, 2001
RoboCup-99: Robot Soccer World Cup III, Springer-Verlag, 2000
RoboCup-98: Robot Soccer World Cup II, Springer-Verlag, 1999
RoboCup-97: Robot Soccer World Cup I, Springer-Verlag, 1998
The RoboCup Physical Agent Challenge Phase-I RoboCup-97,
Springer-Verlag, 1998
RoboCup: The Robot World Cup Initiative in Proc. of The First
International Conference on Autonomous Agent (Agents-97)),
Marina del Ray, The ACM Press, 1997.
RoboCup: A Challenge AI Problem, AI Magazine, Spring, 1997.
The RoboCup Synthetic Agent Challenge 97, Proc. of IJCAI-97,
1997.
RoboCup as a Research Program IROS-97, Grenoble, 1997.
RoboCup in Proc. of IJCAI-95 Workshop on Entertainment and
AI/Alife, Montreal, 1995.
References
• Balch, T. and H. A. Yanco (2002). Ten Years of the AAAI Mobile
Robot Competition and Exhibition: Looking Back and to the
Future, AI Magazine, 23(1):13-22.
• Murphy, R., J. Blitch, and J. Casper (2002). AAAI/RoboCup2001 Urban Search and Rescue Events: Reality and
Competition, AI Magazine, 23(1):37-42.
• J. L. Casper and H. A. Yanco (2002). AAAI/RoboCup-2001
Robot Rescue, AI Magazine, 23(1):43-49.
• Veloso, M., et al. (2002). RoboCup-2001: The Fifth Robotic
Soccer World Championships, AI Magazine, 23(1):55-68.