Transcript RoboCup - DEI, UniPd

RoboCup: New Scientific and
Technical Advancements
Enrico Pagello
Vice-President of the International RoboCup Federation
IAS-Lab
Intelligent Autonomous Systems
The University of Padua
Presentation Outline
• Why RoboCup
• RoboCup at beginning: 1997-2000
• League organization: old and new
• RoboCup-2003 report
• The site, the people, the robots
• Competition results
• RoboCup research at IAS-Lab, in Padua
• Scientific perspective of RoboCup
Why roboCup ?
H. Kitano (Ed.), RoboCup: The First Step,
Special Issue of Artificial Intelligence, June 1999
• Landmark Project:
– Difficult enough to generate innovations and technical
breakthroughs
– Enough feasible to allow a first step
– Able to generate technologies that could
meet next generation of industries
– Widely appealing and exciting
• Ultimate Goal
– To beat the World-champion Human Team by
a Team of 11 Humanoids
RoboCup Soccer :
(1/5)
The oldest RoboCup standard problem
•
Different Leagues provide different research challenges for multirobot systems in complex environments
• Simulation League
• No Hardware limitations
• Multi-agent coordination
and high level strategies
• Small-size League
• Miniaturized Hardware
• Centralized control
RoboCup Soccer :
(2/5)
The oldest RoboCup standard problem
• Middle-size League
• Building, maintaining, and
programming a team of fully
autonomous robots
• High speed moving (>2m/s)
• Large field (12m X 8 m)
• Sensing the environment
• Cooperation abilities
RoboCup Soccer :
(3/5)
The oldest RoboCup standard problem
• Middle-size League: progresses from 1997 to 2003
USC (USA) - Osaka Univ. (Japan) Nagoya 1997
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Isfahan Univ (Iran) - AIS (Germany) Padua 2003
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RoboCup Soccer :
(4/5)
The oldest RoboCup standard problem
• Four-Legged League
• Stable, reliable and
standardized Hardware
• Software development
• Local sensor processing
• Cooperation abilities
RoboCup Soccer :
(5/5)
The oldest RoboCup standard problem
• Humanoid League
• Commercial platforms OR
Home-designed robots
• Today, only limited different
ability challenges:
• Walking
• Standing on one leg
• Penalty kick
• Free style
• VERY CHALLENGING !!!
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The new RoboCup categories:
The Rescue activity
•
We chose Urban Search and Rescue (USAR Application) as a secondary
domain for RoboCup, because it is a socially significant real-world domain,
but also because ...
RoboCup Rescue versus Soccer
…
because
•
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There are certain similarities beween Rescue and Soccer:
•
unpredictability,
•
hard real-time,
•
heterogeneous teams,
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emergent cooperation,
•
distributed simulation, etc.
Other USAR features are missing in Soccer:
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long-term strategy planning logistic,
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interaction with human agents,
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robot-based map construction,
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sophisticated networking technology,
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3D odometry, etc
General research issues were introduced into
RoboCup since the beginning (1997)
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•
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Each league has its own architectural constraints.
Research issues are slightly different one to another.
For simulated leagues;
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Teamwork among agents
Agent modelling, from primitive skills to complex ones
Multi-agent learning, for on-line and off-line learning of simple skills, as well as
more complex strategy . . . . .
For real leagues:
•
•
•
Real-time global or distributed perception from different sensing sources
Individual mechanical skills of the phisical robots
Strategic navigation and actions . . . . .
RoboCup and education:
Benefit of RoboCup - The Junior League
•
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There are large benefits for education from promoting RoboCup among
young people
RoboCup Junior has an important role for the advancement of science and
education
RoboCup members
The participating universities and research
organizations have been increasing
all over the world year by year
Major universities & Research Organizations
Berlin Free Univ.
Padova Univ.
Uppsala Univ.
Essex Univ.
Labo de Robotique de
Versailles
Roma Univ.
Orebro Univ.
Humboldt Univ.
Porto Univ.
Mainz Univ.
Osnabrueck
Univ.
Koblenz-landau
Univ. etc.
McGill Univ.
St. Petersburg State Technical Univ.
Beijing Institute of
Tech.
China Science &
Tech Univ.
Tokyo Univ.
Sheriff Tech
Keio Univ.
Univ.
Waseda Univ.
India Tech Univ. Erato Kitano Project
Osaka Univ. Etc.
Melbourne Univ.
NSW Univ.
Queensland Univ.
Carnegie
Mellon Univ.
Cambridge Univ.
South California Univ.
Cornell Univ. etc.
Georgia Tech
Univ.
Pennsylvania
Univ.
Washington
Univ. etc.
Auckland Univ. etc.
The RoboCup Federation
The RoboCup Federation
A Non-Profit Organization registered in
Switzerland and composed of top AI
researchers in the world
Board of Trustee
Composed of 11 core board members
Executive Committee
Prof. M. Veloso
Vice President
CMU, USA
Prof. E. Pagello
Vice President
Padua Univ.,
Italy
Prof. M. Asada
President
Osaka Univ.
Japan
Dr. H. Kitano
Founding
President
Sony Co.,
Tokyo
Japan
Composed of persons responsible for each league
National Committee
Japan
Singapore
USA
Germany
Italy
France
Netherlands
Scandinavia
RoboCup2002 @ Fukuoka-Dome:
Middle-size fields and lab area 11,000 sq m
RoboCup2003 @ PadovaFiere:
Middle-size fields and lab area: 8.,500 sq m
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Classification of Teams by country
@RoboCup2003
Team growth 1997-2003
Junior League:
RoboCup 2003 competitions
• This year competition had
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•
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One-on-one soccer
Two-on-two soccer
Dance
Rescue
Junior League:
RoboCup 2003 dance performances
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• Dance challenge can help to reduce the gender gap, and
allow more female students to join RoboCup
Junior League:
RoboCup 2003 U-league experiments
• U-League was created in answer to the call of develop
stepping stones from RoboCup junior and senior RoboCup
Leagues
Junior League:
RoboCup 2003 Rescue set
•
Junior rescue was redesigned and re-introduced, on 2003, as a miniature version of the
NIST Rescue Arenas
•
The RCJ Rescue set-up looks almost like a doll’s house, and the robot had to follow a
line through the house search for victims