Transcript Kein Folientitel - FU

Free University of Berlin
Institute of Computer Science
AI Group
F-180 Team
FU-Fighters
Motivation to participate in RoboCup SmallSize (F180)
Robotic soccer is fun
New benchmark problem for AI research
Interdisciplinary research
Focus both on individual robots and the team
SmallSize league needs only limited resources
Competitions
RoboCup’99 in Stockholm
first real games
second place
European competition in Paderborn
live broadcast on German TV (WDR)
inter league games (SmallSize & Mirosot)
winner
Show games (Science Festival Bonn, Berlinale, CeBit)
Research issues
mechanical
fast, reliable robots
kicking devices
electrical
power supply
local control
second place
computer vision
real time object localisation and tracking
cope with occlusions, changes of lighting, ...
behaviour control
individual actions
obstacle avoidance
ball handling
team play
communication
Mechanics and electronics
Aluminum frame to protect the electronics
Two individual DC-motors for differential drive
Passive sphere for third point of support
Shooting plate controlled by a third motor
On-board microcontroller Motorola HC05
Vision system
NTSC video camera (640x480 Pixel, 30fps)
Searches and tracks colored objects
Determines position of the ball, as well as
position and orientation of all robots
Predicts positions in the next frame and
investigates only small windows of the image
Behavior control
Reactive, layered system of sensors, behaviors,
actuators within a time hierarchy
Higher sensory levels aggregate information
Higher-level behaviors modulate/configure
lower-level behaviors
there is no explicit world model
fast reactions (reflexes) are possible
Behaviours
Level 1: drive to position, avoid obstacles
Level 2: approach ball, kick, dribble, free the ball, ...
Level 3: decide which robot should take initiative
Level 4: passing, ... (to be implemented)
Level 5: strategy changes, ... (to be implemented)
Goal keeping behaviours
Radio link
Transceiver working at 433-434.5 MHz
9600/19200 baud
Error tolerant transmission
Packets contain target speeds for the motors
Local control of motor speed
Who built them ?
Our Stockholm‘99 team was composed of three
researchers and seven students. Some students left the
team, but we have also new members.
Upper row: Wolf Lindstrot, Prof. Dr. Raúl Rojas, Manuel de Melo,
Dipl.-Inf. Sven Behnke, Oliver Tenchio.
Lower row: Martin Sprengel, Dipl.-Inf. Bernhard Frötschl, Mark
Simon, Peter Ackers, Andreas Schebesch.
New team members: Lars Knipping, Jong-Gill Park, Jörg Solger,
André Vratislavsky, Lars Wolter, Andrea Schuhmann, Kirill Koulechov
Building a team of robots is time consuming, but
rewarding. One does not only learn about robotics, but
also about teamwork and deadlines.
Logistics
curriculum
started in spring ‘98
seminars
practical lab work
lab
permanent field
camera, computer, tools
access to university workshop
competitions
10 persons and 6 robots went to Stockholm by car
need a truck to move the field
funding
no solid funding yet
support from the university
show game
sponsors (parts and some financial support)
Publications
•RoboCup'99 (F180) Team Description: FU-Fighters,
Team Descriptions RoboCup'99 Stockholm, pp. 48-52, 1999.
•Using hierarchical dynamical systems to control
reactive behavior,
Proceedings IJCAI'99 - International Joint Conference on
Artificial Intelligence, The Third International Workshop on
RoboCup, Stockholm, pp. 28-33, 1999.
•The Soul of a New Machine: The Soccer Robot Team
of the FU Berlin,
Technical Report B-12/99, Department of Mathematics and
Computer Science, FU Berlin, 1999
Contact
Prof. Dr. Raúl Rojas, Sven Behnke, Bernhard Frötschl
Email: {rojas, behnke, froetsch}@inf.fu-berlin.de
Internet: http://www.inf.fu-berlin.de/~robocup
Phone.: +49 30 838 75 130 / 131 / 133 / 100, Fax: / 109
Mail: FU Berlin, Institut für Informatik, Takustr. 9,
14195 Berlin, Germany
Sponsors
We thank Conrad Electronic, Faulhaber Motors, Siemens
ElectroCom Postautomation and Lufthansa Systems Berlin
for their material and financial support
Future plan: Omnidirectional local vision