RoboCup 2015: Robot World Cup XIX

Name: RoboCup 2015: Robot World Cup XIX
Brand: Springer
Price: 53.49 EUR
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Luis Almeida Jianmin Ji Gerald Steinbauer Sean Luke(Herausgeber*in)

Springer (Verlag)

Erschienen am 29. Januar 2016

XIV, 390 Seiten

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978-3-319-29339-4 (ISBN)

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Beschreibung

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Inhalt

Intro
Preface
Organization
Contents
Best Paper Award for its Scientific Contribution
Language-Based Sensing Descriptors for Robot Object Grounding
1 Introduction
2 Related Work
3 Approach
3.1 Sensing Descriptors
3.2 Human-Robot Natural Language Interaction
3.3 Handling Unknown Sensing Descriptors
4 Experimental Evaluation
4.1 Setup
4.2 Approach Evaluation
5 Conclusion
References
Interactive Learning of Continuous Actions from Corrective Advice Communicated by Humans
Abstract
1 Introduction
2 The COACH Learning Framework
3 Human-Machine Interface
4 Experiments and Results
4.1 Ball Dribbling with Humanoid Robots
4.2 Cart-Pole
5 Conclusions
Acknowledgements
References
Best Paper Award for its Engineering Contribution
Evaluation of the RoboCup Logistics League and Derived Criteria for Future Competitions
1 Introduction
2 RoboCup Logistics League
2.1 The Referee Box
3 Related Work: Competitions and Benchmarks
4 Key Performance Indicators
4.1 KPIs Applied in the RoboCup Logistics League
5 Analysis of the RCLL 2013 and 2014
5.1 Exemplary Application of KPI to the RoboCup 2014 Finale
5.2 Overall Tournament Evaluation
6 Conclusion
References
Champions Papers
The Carologistics Approach to Cope with the Increased Complexity and New Challenges of the RoboCup Logistics League 2015
1 Introduction
1.1 Game Play Changes 2015
2 The Carologistics Platform
2.1 Hardware System
2.2 Architecture and Middleware
3 Advances to Functional Software Components
3.1 Basic Components
3.2 Light Signal Vision
3.3 Conveyor Belt Detection
4 High-Level Decision Making and Task Coordination
4.1 Lua-Based Behavior Engine
4.2 Incremental Reasoning Agent
4.3 Multi-robot Simulation in Gazebo
5 League Advancements and Continued Involvement
5.1 RCLL Referee Box and MPS Stations
5.2 League Evaluation
5.3 Public Release of Full Software Stack
5.4 Agent-Based Programming for High-Level Control
6 Conclusion
References
KeJia-LC: A Low-Cost Mobile Robot Platform --- Champion of Demo Challenge on Benchmarking Service Robots at RoboCup 2015
1 Introduction
2 Background of the Demo Challenge on BSR
2.1 Rules and Skills
2.2 Different Requirements and Techniques with RoboCup@Home
3 Hardware Design of KeJia-LC
4 Software Design
4.1 Odometry Parameters Calibration
4.2 Mapping, Localization and Navigation
4.3 Coordinate Transformation Between MoCap and Maps
5 Competition Results
5.1 Competition Results
6 Conclusion and Future Work
References
RoboCup SPL 2015 Champion Team Paper
1 Introduction
2 Team Organisation and Development Methodologies
3 Whistle Detection
4 Foot Detection and Avoidance
5 Motion
6 Odometry
7 Path Planning
8 Goal Detection
9 Concluding Discussion
References
Team Homer@UniKoblenz --- Approaches and Contributions to the RoboCup@Home Competition
1 Introduction
2 Service Robot Lisa
3 Software Architecture
3.1 Abstraction Levels
3.2 Relation to Service Robot Concepts
3.3 Implementing RoboCup@Home Tests
4 Approaches and Contribution
4.1 Software Contributions
4.2 Approaches and Algorithms
5 Current Research
6 Summary and Outlook
References
A Failure-Tolerant Approach for Autonomous Mobile Manipulation in RoboCup@Work
1 Introduction
2 LUHbots
3 RoboCup@Work
3.1 Tests
4 Hardware
4.1 Sensors
4.2 Gripper
5 Approach
5.1 Overview
5.2 Manipulation
5.3 Navigation
5.4 Vision
5.5 Task Planning
5.6 State Machine
6 Results
7 Conclusion
8 Future Work
References
CMDragons 2015: Coordinated Offense and Defense of the SSL Champions
1 Introduction
2 Coordinated Plays Layer
3 Offense Coordination: Zone-Based Selective Reactivity
3.1 CMDragons 2013: Reactive Offense
3.2 CMDragons 2014: Fixed Zones and Guard Locations
3.3 CMDragons 2015: Zones and Reactive Positioning
3.4 Other Offense Contributions
4 Defensive Coordination: Threat-Based Evaluation
4.1 Defense Behavior Illustration: 5 Defense Robots
4.2 Contributions to Offense
5 RoboCup 2015 Results and Statistics
6 Conclusion
References
UT Austin Villa: RoboCup 2015 3D Simulation League Competition and Technical Challenges Champions
1 Introduction
2 Domain Description
3 Changes for 2015
3.1 Variable Distance Kicks
3.2 Set Plays
3.3 Kick Decision Classifier
4 Main Competition Results and Analysis
4.1 Analysis of Components
5 Technical Challenges
5.1 Drop-In Player Challenge
5.2 Kick Accuracy Challenge
5.3 Free Challenge
6 Conclusion
References
RoboCup 2015 Humanoid AdultSize League Winner
1 Introduction
2 THOR Robot Platform
2.1 Modification for RoboCup
3 Walk Controller
3.1 Toe and Heel Lift Controller
3.2 Heel Strike Toe Off Walk
4 Kick Controller
4.1 Cartesian Space Kick Generation
4.2 Hybrid Kick Generation
4.3 Whole Body Balancing Control
5 Vision and Localization
5.1 Obstacles
5.2 White Objects
5.3 Localization
6 High Level Behavior
7 Results
8 Conclusions
References
Fuzzy Inference Based Forecasting in Soccer Simulation 2D, the RoboCup 2015 Soccer Simulation 2D League Champion Team
1 Introduction
2 Fuzzy Inference System (FIS)
2.1 Mamdani-Type Fuzzy Inference
2.2 Sugeno-Type Fuzzy Inference
2.3 Comparison Between Mamdani and Sugeno
3 Experiment
4 Related Work
5 Conclusion
References
CIT Brains KidSize Robot: RoboCup 2015 KidSize League Winner
Abstract
1 Introduction
2 Conventional Ball Detection Method
3 Ball Detection Method Using Color Histogram
4 Ball Detection Method Using a Template
5 Moving Ball Detection
6 Modification in the RoboCup2015
7 Discussion of a Walking on the Artificial Grass
8 Discussion of the Technical Challenges
8.1 Goal-Kick from Moving Ball
8.2 High-Kick Challenge
9 Conclusion
References
The Goalkeeper Strategy of RoboCup MSL Based on Dual Image Source
Abstract
1 Introduction
2 Structure of the Goalkeeper Robot
3 Coordinates Transformation
4 Goalkeeper Strategy Based on Dual Image Source
4.1 Adjust Goalkeeper Heading with Omni-Vision System
4.2 Recognize the Ball's Imaging Blob in the Depth Image
4.3 Check the Imaging Blob and Measure the Ball's Spatial Location
4.4 Determining the Goalkeeper Defensive Position
4.5 Two Measurement Methods Based on Single Image Source
5 Experiments
6 Conclusion
Acknowledgment
References
Oral Presentations
Regression and Mental Models for Decision Making on Robotic Biped Goalkeepers
1 Introduction
2 Related Work
3 Approach
3.1 Thiel-Sen and Kalman-Filter
3.2 Nonlinear Regression and Experimental Anticipation
4 Results
4.1 Experiment Setup
4.2 Goalkeeper Performance
5 Conclusion and Future Work
References
A Fast Method for Adapting Lookup Tables Applied to Changes in Lighting Colour
1 Introduction
2 Adaptive Lookup Tables
2.1 Shedding
2.2 Implementation
3 Experiments
3.1 Colour Sequences
3.2 Trials
4 Results
5 Discussion
6 Conclusion
References
Fuzzy Logic Control of a Humanoid Robot on Unstable Terrain
1 Introduction
2 Analysis and Related Work
2.1 Analysis of the Inverted Pendulum
2.2 Fuzzy Logic Control for Inverted Pendula
2.3 Analysis of the Bongo Board
2.4 Control Systems for the Bongo Board
3 Fuzzy Rules for the Bongo Board
4 Evaluation
4.1 Comparison of Control Policies
4.2 Comparison of Control Algorithms
5 Conclusions and Future Work
References
Towards an Architecture Combining Grounding and Planning for Human-Robot Interaction
1 Introduction
2 Overall Architecture
3 Grounding
3.1 Semantic Parser
3.2 Visual Perception Processing
3.3 Evaluation
4 Manipulation Planning
5 Experiments
5.1 Data Sets
5.2 Results
5.3 RoboCup@home Task
6 Discussion and Conclusions
References
Poster Presentations
Robust Detection of White Goals
Abstract
1 Introduction
2 Related Work
3 White Goal Detection Algorithm
3.1 Detection of Posts Bases
3.2 Determination of the Posts Heights
3.3 Determination of the Posts Widths
3.4 Filtering
3.5 Characterization
4 Results
5 Conclusions
Acknowledgments
References
A Robust and Calibration-Free Vision System for Humanoid Soccer Robots
1 Introduction
1.1 Objectives
1.2 Related Work
2 Vision System
2.1 Field Color Detection
2.2 Preprocessing
2.3 Line Detection
2.4 Ball Detection
2.5 Goal Detection
2.6 Robot Detection
3 Evaluation
3.1 Hardware
3.2 Object Recognition
3.3 Runtime Analysis
4 Conclusion and Future Work
References
Power Usage Reduction of Humanoid Standing Process Using Q-Learning
1 Introduction
2 Humanoid Modeling
3 Q-Learning Power Optimization
3.1 Power Aware Stand up Learning Algorithm
4 Energy and Power Performance Evaluation
5 Experimental Setup
5.1 Learning Cycle
5.2 Robot Execution
6 Results
7 Conclusions
References
An Episodic Long-Term Memory for Robots: The Bender Case
1 Introduction
2 Related Work
3 Episodic Long-Term Memory Framework
3.1 Long-Term Memory Implementation
3.2 Information Storage and Update
3.3 Use and Management of Information
4 Proof of Concept: The Bender Case
4.1 Computational Implementation
4.2 Application Example: The Starting and Conversation Behavior
4.3 Evaluation
5 Conclusions and Future Work
References
Context-Based Coordination for a Multi-Robot Soccer Team
1 Introduction
2 Related Work
3 Approach
3.1 Coordination System
3.2 Context System
4 Coordinating in the RoboCup Soccer Scenario
4.1 Representing Contexts
4.2 Recognizing Contexts
4.3 Using Contexts
5 Experimental Results
6 Conclusion
References
A Study of Layered Learning Strategies Applied to Individual Behaviors in Robot Soccer
Abstract
1 Introduction
2 Layered Learning
3 Case Study: Soccer Dribbling Behavior
4 Layered Learning of Dribbling Behavior
4.1 Partial Concurrent Layered Learning
4.2 Sequential Layered Learning
4.3 Concurrent Layered Learning
5 Experimental Results and Analysis
5.1 Experimental Setup
5.2 Results and Analysis
6 Summary and Future Work
Acknowledgments
References
Development of Humanoid Robot Locomotion Based on Biological Approach in EEPIS Robot Soccer (EROS)
1 Introduction
2 Related Work
3 Locomotion Model
3.1 Neural Oscillator Based Locomotion Generator
3.2 Synapse Weight Optimization
4 Stability System
4.1 Synapse Structure
4.2 Recurrent Neural Network
5 Experimental Result
6 Conclusion
References
A Dynamic and Efficient Active Vision System for Humanoid Soccer Robots
1 Introduction
2 Related Work
3 Active Vision
3.1 General View
3.2 Action Space
3.3 Obtaining a Priori Information
3.4 Dynamic Information
3.5 Adding the Ball to the Model
3.6 Action Space-Based Decision Making
4 Experimental Results
4.1 Simulated Full Field Experiment
4.2 Real Robot Experiment
5 Conclusions and Future Work
References
Development Track
A Realistic RoboCup Rescue Simulation Based on Gazebo
1 Introduction
2 Related Research
3 Benefits
4 Design
5 Requirements
6 Architecture
7 Results
8 Future Work
9 Conclusion
References
Hambot: An Open Source Robot for RoboCup Soccer
1 Introduction
2 Current Problems in the RoboCup Humanoid League
3 Goals of the New Robot
4 ``GOAL''
5 ``Hambot''
5.1 Body Composition
5.2 Interaction
5.3 3D Printing
5.4 Costs
6 Conclusion and Further Work
References
Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator
1 Introduction
2 Methodology
2.1 Design Requirements
2.2 System Identification and Control
2.3 Manufacture and Electronics
3 Results
3.1 Obtaining the Stiffness
3.2 Obtaining the Transfer Functions
3.3 Controller
4 Discussion
References
RLLib: C++ Library to Predict, Control, and Represent Learnable Knowledge Using On/Off Policy Reinforcement Learning
1 Overview
2 Related Work
3 Features
4 Prelude
5 Platform
6 Experiments
7 Conclusion
References
Fawkes for the RoboCup Logistics League
1 Introduction
2 Fawkes Robot Software Framework
3 Task-Level Coordination and Execution
4 Conclusion
References
Benchmarking Workshop
Synthetical Benchmarking of Service Robots: A First Effort on Domestic Mobile Platforms
1 Introduction
2 Why Synthetical Benchmarking
3 Benchmarking on DMPs
4 Implementation of the BSR Challenge
4.1 Competition Area Layout
4.2 Stage i Test
4.3 Stage ii Test
5 Analysis of Team Performance
6 Discussion and Future Work
7 Conclusion
References
Author Index

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