1,721,169 research outputs found
Editorial: Humanoid Soccer Robots
No full textIn recent years, significant progress has been made in the design and control of autonomous humanoid robots. One area, where this progress is particularly visible, is humanoid robot soccer. RoboCup is an international research and education initiative with the goal of fostering artificial intelligence and robotics research by providing a standard problem. Currently, there exist a number of different RoboCup soccer leagues that focus on different aspects of this challenge. In the humanoid league, autonomous robots with a human-like body and human-like senses play soccer against each other. The long-term goal of RoboCup is to develop a team of humanoid soccer robots that wins against the FIFA world champion by the year 2050. The humanoid league is one of the most dynamically progressing leagues and the one closest to the 2050 goal. Several of the best autonomous humanoid robots in the world compete in this league
Cooperation of Heterogeneous Vision Agents for Mobile Robots
No full textMultiple robot systems in which every robot is equipped with a vision
sensor are more and more frequent. Most of these systems simply
distribute the sensors in the environment, but they do not create a
real Cooperative Distributed Vision System. Distributed Vision System
has been studied in the past, but not enough emphasis has been posed
on mobile robots.
In this paper we propose an approach to realize a Cooperative
Distributed Vision System within a team of heterogeneous mobile
robots. We present the two research streams which we are working on,
along with theoretical and practical insights
An experimental study of distributed robot coordination
No full textCoordinating the path of multiple robots along assigned paths is a computationally hard problem with great potential for applications. We here provide a detailed experimental study of a randomized algorithm for scheduling priorities that we have developed, and also compare it with exact and approximated solutions. It turns out that for problems of reasonable size our algorithm exhibits an appealing compromise between speed and quality
Making Collective Behaviors to work through Implicit Communication
No full textThe aim of this paper is to investigate how stigmergic information allow each individual of a group of autonomous robots to take advantages from other individual behaviors. The proposed analysis is based on the roboticle model where sensor data and effector commands are treated as energy exchange between the robot and its environment, eventually populated by other robots. Without explicit communication, the collective behavior of a group of teammates can be forced only if the robot designer makes each robot to become aware of distinguishing configuration patterns in the environment. Usually, the job is accomplished both by evaluating descriptive conditions as macroparameters and an appropriate dynamic role assignment among teammates. Since observed individual behaviors can affect the normal course of operations for each robot propagating to other teammates, we want to address some issues on how a collective behavior is fired and maintained
Cooperation between Omnidirectional Vision Agents and Perspective Vision Agents for Mobile Robots
No full textMultiple robot systems in which every robot is equipped with a vision sensor are more and more frequent. Most of these systems simply distribute the sensors in the environment, but they do not create a real Cooperative Distributed Vision System. In this paper we propose an approach to realize a Cooperative Distributed Vision System within a team of heterogeneous mobile robots. We present two research streams which we are working on, along with theoretical and practical insights
Designing Omnidirectional vision systems and inserting them in a Distributed Vision system for Mobile Robots
No full textMultiple robot systems in which every robot is equipped with a vision sensor are more and more frequent. Most of these systems simply distribute the sensors in the environment, but they do not create a real Cooperative Distributed Vision System. Distributed Vision System has been studied in the past, but not enough emphasis has been posed on mobile robots. In this paper we propose an approach to realize a Cooperative Distributed Vision System within a team of heterogeneous mobile robots. We present the two research streams which we are working on, along with theoretical and practical insights. In the first part of the paper we provide a guideline for the design of an omnidirectional vision system. We report the design steps undertaken, with a detailed description of the design of an omnidirectional mirror with a custom profile. Afterward, we present the software written to exploit the properties of the designed mirror. The application for which the vision system has been designed is the self-localization of the robot and the localization of other robots and objects in the environment. Several practical tricks and suggestion are provided
The challenge of motion planning for soccer playing humanoid robots
No full textMotion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double support mode, higher levels of planning for coordination of different skills, etc. While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties rarely addressed in humanoid motion planning research, as for example: dynamic environments with active opponents, the requirement to perform short- and long-term plans for performing soccer-relevant actions, and the necessity to plan movements purposely terminating with a collision with the ball. These aspects open a completely new scenario for researchers. This paper surveys state-of-the-art research in motion planning for humanoid robots with a focus on outlining connections, differences, and identifying the key aspects that ought to be addressed when developing effective humanoid soccer players
How a cooperative behaviour can emerge from a robot team
No full textIn this paper, we suggest an hybrid architecture where the deliberative
part takes advantages from the reactive one and vice versa, to make a
multi-robot system to exhibit some assigned cooperative task. We explain
our architecture in terms of schemas and a set of firing conditions. To
experiment our approach, we have realized an implementation that tries
to exploit the resources of our robot team, that participates to the
Middle-size RoboCup tournament. Each individual exhibits both reactive
and deliberative behaviors which are needed to perform cooperative
tasks. To this aim we have designed each robot to become aware of
distinguishing configuration patterns in the environment by evaluating
descriptive conditions as macroparameters. These are implemented at
reactive level, whereas the deliberative level is responsible of a
dynamic role assignment among teammates on the basis on the knowledge
about the best behavior the team is able to exhibit at the moment. We
have tested our approach successfully during the Middle-size Challenge
Competition held in Padua on last RobCup2003
A Performance Comparison of Three Algorithms for Proximity Queries relative to Convex Polyhedra
No full textThis paper presents a comparative analysis relative to the experimental performances of an asymptotically fast and incremental algorithm, recently developed to compute collision translations for pairs of convex polyhedra. The algorithm may be worth considering because it solves a proximity problem which is less widely addressed than distance, as well as because of its peculiar computation strategy, well suited to work without initialization, but also endowed with an inherently embedded mechanism to exploit spatial coherence. Numerical data characterizing the behavior of the algorithm with respect to the complexity of the polyedra have already been discussed elsewhere, thus here the main focus is on contrasting its performances with those of two popular algorithms designed to compute distances between polyhedra. Although the considered ``yardsticks'' answer different proximity queries, and although one of the techniques is meant to deal with general polyhedra, the results presented in this paper should help to assess the efficacy and potential of the approach under analysis..
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