Abstract
Robotic soccer is a challenging research domain because problems in robotics, artificial intelligence, multi-agent systems and real-time reasoning have to be solved in order to create a successful team of robotic soccer players. In this paper, we describe the key components of the CS Freiburg team. We focus on the self-localization and object recognition method based on using laser range finders and the integration of all this information into a global world model. Using the explicit model of the environment built by these components, we have implemented path planning, simple ball handling skills and basic multi-agent cooperation. The resulting system is a very successful robotic soccer team, which has not lost any game yet.
This work has been partially supported by Deutsche Forschungsgemeinschaft (DFG) as part of the graduate school on Human and Machine Intelligence, by Medien- und Filmgesellschaft Baden-Württemberg mbH (MFG), and by SICK AG, who provided the laser range finders.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
M. Asada, P. Stone, H. Kitano, A. Drogoul, D. Duhaut, M. Veloso, H. Asama, and S. Suzuki. The RoboCup physical agent challenge: Goals and protocols for phase I. In Kitano [10], pages 42–61.
R. A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics & Automation, RA-2(1), 1986.
W. Burgard, D. Fox, D. Hennig, and T. Schmidt. Estimating the absolute position of a mobile robot using position probability grids. In Proceedings of the 13th National Conference of the American Association for Artificial Intelligence (AAAI-96), pages 896–901, Portland, OR, July 1996. MIT Press.
H.-D. Burkhard, M. Hannebauer, and J. Wendler. AT Humbold — development, practice and theory. In Kitano [10], pages 357–372.
J. A. Castellanos, J. D. Tardós, and J. Neira. Constraint-based mobile robot localization. In International Workshop on Advanced Robotics and Intelligent Machines. University of Salford, Apr. 1996.
I. J. Cox. Blanche: Position estimation for an autonomous robot vehicle. In I. J. Cox and G. T. Wilfong, editors, Autonomous Robot Vehicles, pages 221–228. Springer-Verlag, Berlin, Heidelberg, New York, 1990.
J.-S. Gutmann, W. Burgard, D. Fox, and K. Konolige. An experimental comparison of localization methods. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS’98). IEEE/RSJ, 1998.
J.-S. Gutmann and B. Nebel. Navigation mobiler Roboter mit Laserscans. In P. Levi, T. Bräunl, and N. Oswald, editors, Autonome Mobile System 1997, Informatik aktuell, pages 36–47, Stuttgart, Germany, 1997. Springer-Verlag.
J.-S. Gutmann and C. Schlegel. Amos: Comparison of scan matching approaches for self-localization in indoor environments. In Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots, pages 61–67. IEEE, 1996.
H. Kitano, editor. RoboCup-97: Robot Soccer World Cup I, volume 1395 of Lecture Notes in Artificial Intelligence. Springer-Verlag, Berlin, Heidelberg, New York, 1998.
H. Kitano, M. Asada, Y. Kuniyoshi, I. Noda, E. Osawa, and H. Matsubara. RoboCup: A challenge problem for AI. The AI Magazine, 18(1):73–85, 1997.
M. Klupsch, M. Lückenhaus, C. Zierl, I. Laptev, T. Bandlow, M. Grimme, I. Kellerer, and F. Schwarzer. Agilo RoboCuppers: RoboCup team description. This volume.
K. Konolige, K. Myers, E. H. Ruspini, and A. Saffiotti. The Saphira Architecture: A Design for Autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9:215–235, 1997.
J.-C. Latombe. Robot Motion Planning. Kluwer, Dordrecht, Holland, 1991.
F. Lu and E. E. Milios. Robot pose estimation in unknown environments by matching 2D range scans. In IEEE Computer Vision and Pattern recognition Conference (CVPR), pages 935–938, 1994.
D. Nardi, G. Clemente, and E. Pagello. Azzurra robot team. This volume.
I. Noda, S. Suzuki, H. Matsubara, M. Asada, and H. Kitano. Overview of RoboCup-97. In Kitano [10], pages 20–41.
M. Plagge, B. Diebold, R. Guenther, J. Ihlenburg, D. Jung, K. Zahedi, and A. Zell. Design and evaluation of the t-team of the university or tuebingen for robocup’98. This volume.
S. Thrun, J.-S. Gutmann, D. Fox, W. Burgard, and B. Kuipers. Integrating topological and metric maps for mobile robot navigation: A statistical approach. In Proceedings of the 15th National Conference of the American Association for Artificial Intelligence (AAAI-98), Madison, WI, July 1996. MIT Press.
M. Veloso, P. Stone, and K. Han. The CMUnited-97 robotic soccer team: Perception and multiagent control. In Autonomous Agents — Second Internation Conference (Agents’98). ACM Press, 1998.
M. Veloso, P. Stone, K. Han, and S. Achim. The CMUnited-97 small robot team. In Kitano [10], pages 242–256.
T. Weigel. Roboter-Fußball: Selbstlokalisation, Pfadplanung und Basisfähigkeiten. Diplomarbeit, Fakultät für Angewandte Wissenschaften, Freiburg, Germany, 1998.
G. Weiß and E. von Puttkamer. A map based on laserscans without geometric interpretation. In U. Rembold, R. Dillmann, L. Hertzberger, and T. Kanade, editors, Intelligent Autonomous Systems (IAS-4), pages 403–407. IOS Press, 1995.
B. Werger, P. Funes, M. S. Fontan, R. Sargent, C. Witty, and T. Witty. The spirit of Bolivia: Complex behavior through minimal control. In Kitano [10], pages 348–356.
K. Yokota, K. Ozaki, A. Matsumoto, K. Kawabata, H. Kaetsu, and H. Asama. Omni-directional autonomous robots cooperating for team play. In Kitano [10], pages 333–347.
K. Yokota, K. Ozaki, N. Watanabe, A. Matsumoto, D. Koyama, T. Ishikawa, K. Kawabata, H. Kaetsu, and H. Asama. Cooperative team play based on communication. In M. Asada, editor, RoboCup-98: Robot Soccer World Cup II. Proceedings of the second RoboCup Workshop. Paris, France, July 1998.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Heidelberg Berlin
About this paper
Cite this paper
Gutmann, JS. et al. (1999). The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer Skills. In: Asada, M., Kitano, H. (eds) RoboCup-98: Robot Soccer World Cup II. RoboCup 1998. Lecture Notes in Computer Science(), vol 1604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48422-1_7
Download citation
DOI: https://doi.org/10.1007/3-540-48422-1_7
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66320-1
Online ISBN: 978-3-540-48422-6
eBook Packages: Springer Book Archive