Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer Luís Paulo Reis [email protected] http://www3.dsi.uminho.pt/lpreis Member of the Directive Board of LIACC – Artificial Intelligence and Computer Science Lab. Of the University of Porto, Portugal Associate Professor at School of Engineering, University of Minho, Portugal
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 1
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Presentation Outline
• Artificial Intelligence, Robotics and Simulation • RoboCup and Our Teams – RoboCup Challenges and Leagues – Portuguese Teams: FCPortugal, 5DPO, Cambada and PT Team • Flexible Strategy for Robotic Teams – Strategy and Formations /SBSP – DPRE - Dynamic Positioning and Role Exchange – SetPlays and Graphical Setplay Definition – Generic Optimization of Skills/Decisions • Applications and Projects at Portugal – Agent Based Simulation: EcoSimNet – Educational/Assistive Robotics: Intellwheels, Robot Dancing – Strategic Reasoning: Poker Agents – Real Sports: Soccer, Indoor Sports (Handball) • Conclusions and Future Work
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 2 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Artificial Intelligence
• Intelligence – “Capacity to solve new problems through the use of knowledge” • Artificial Intelligence – “Science concerned with building intelligent machines , that is, machines that perform tasks that when performed by humans require intelligence”
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 3
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Autonomous Agents and Multi-Agent Systems
• Agent Traditional Definition: sensors “Computational System, situated in a percepts ? environment given environment , that has the ability agent actions to perceive that environment using
sensors and act , in an autonomous effectors way , in that environment using its From Russel and Norvig , “AI: A Modern Approach”, 1995 actuators to fulfill a given function .”
• Multi-Agent System: – Agents exhibit autonomous behavior – Interact with other agents in the system
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 4 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Agents and Multi-Agent Systems • To build individual autonomous intelligent agents is important, however: – Agents don’t live alone… Necessary to work in group… – Multi-Agent Applications… Coordination : “to work in harmony in a group” – Dependencies in agent actions – Need to respect global constraints – No agent , individually has enough resources , information or capacity to execute the task or solve the problem – Efficiency: Information exchange or tasks division – Prevent anarchy and chaos : Partial vision, lack of authority, conflicts, agent’s interactions
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 5
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Intelligent Robotics • Robotics – Science and technology for projecting, building, programming and using Robots – Study of Robotic Agents (with body) – Increased Complexity: • Environments: Dynamic, Inaccessible, Continuous and Non Deterministic! • Perception: Vision, Sensor Fusion • Action: Robot Control (humanoids!) • Robot Architecture (Physical / Control) • Navigation in unknown environments • Interaction with other robots/humans • Multi-Robot Systems
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 6 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Current State of Robotics • Used to Perform: – Dangerous or difficult tasks to be performed directly by humans – Repetitive tasks that may be performed more efficiently (or cheap) than when performed by humans • Robots have moved from manufacturing, industrial applications to: – Domestic robots (Pets – AIBO, vacuum cleaners) – Entertainment robots (social robots) – Medical and personal service robots – Military and surveillance robots – Educational robots – Intelligent buildings – Intelligent vehicles (cars, submarines, airplanes) – New industrial applications (mining, fishing, agriculture) – Hazardous applications (space exploration, military apps, toxic cleanup, construction, underwater apps) – Multi-Robot Applications and Human-Robot Teams!
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 7
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Agent-Based Simulation • Simulation: Imitation of some real thing, state of affairs, or process, over time, representing certain key characteristics or behaviours of the physical or abstract system • Applications: – Understand system functioning – Performance optimization – Testing and validation – Decision making – Training and education • Applied to complex systems impossible to solve mathematically • Traditional Simulation Drawbacks: – Systems are getting more complex and difficult to model as a whole – Higher level tools available – Human behaviour is often neglected or over simplified • Agent Based Modeling and Simulation: – Entities represented by Agents with Autonomous Behaviour
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 8 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Robotic Competitions • RoboCup – Robotic Soccer • Robotic Soccer FIRA • DARPA Grand-Challenge • Intelligent Ground Vehicle Competition • European Land Robot Trial • IEEE MicroMouse competition • AAAI Grand Challenges • First Competition (Lego -League) • RoboGames (former RoboOlympics) • Manitoba Robot Games • LARC, SBR, OBR • Robotic Fight: BattleBots, RobotWars, RobotSumo • Underwater and aerial Robot Competitions • … • Some Portuguese Competitions: – Portuguese Robotics Open (including autonomous driving) – Micro-Mouse/Ciber-Mouse – Firefighting Robots
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 9
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Robotic Competitions - RoboGames
• Videos: RoboGames Videos
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 10 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Robotic Competitions - RoboCup
• Videos: RoboCup Videos
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 11
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Robotic Competitions - Portugal
• SPR Sociedade Portuguesa de Robótica • Festival Nacional de Robótica (2001 – 2012) – http://www.spr.ua.pt/fnr – http://pt.wikipedia.org/wiki/Festival_Nacional_de_Rob%C3%B3tica – http://robotica2011.ist.utl.pt – http://www.robotica2012.org
• Festival Nacional de Robótica 2013 – Lisbon – Robotic Soccer – Autonomous Driving – Freebots (Free Robots Competition: Scientific, Juri Demo, Public Demo) – Robot@Factory – RoboCup Junior – Demonstrations – International Conference on Autonomous Robot Systems and Competitions, April 2012, Lisbon, Portugal
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 12 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Robotic Competitions • Benefits – Research inspiration – Hard deadline for creating fully functional system – Common platform/problem for exchanging research ideas/solutions – Continually improving solutions – Excitement for students/researchers at all levels – Large number of teams/solutions created – Encouragement for flexible software/hardware
• Dangers – Obsession with winning – Domain dependent/hacked solutions – Cost escalation – Difficulty in entering at competitive level – Restrictive rules – Invalid evaluation conclusions based on Peter Stone, 2002
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 13
AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Research Question
How to Coordinate heterogeneous Multi -Robot Teams executing flexible tasks in a dynamic, adversarial environment?
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 14 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Presentation Outline • Artificial Intelligence and Robotics • RoboCup and Our Teams – RoboCup Challenges – RoboCup Leagues: Simulation (2D, 3D, MR, Rescue), SSL, MSL and SPL – Portuguese Teams: FCPortugal, 5DPO, Cambada and PT Team • Flexible Strategy for Robotic Teams • Application in other Projects at Portugal • Conclusions and Future Work
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 15
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup: Objectives
• Joint International Project: – (Distributed) Artificial Intelligence – Intelligent Robotics • Soccer – Central Research Topic: – Very complex collective game – Huge amount of technologies involved: • Autonomous Agents, Multi-Agent/Multi-Robot Systems , Cooperation , Communication , Strategic Reasoning , Robotics, Sensor Fusion, Real-Time Reasoning, Machine Learning, etc
Main Goal of the RoboCup Initiative:
“By 2050, develop a team of fully autonomous humanoid robots that may win against the human world champion team in soccer!”
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 16 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup: Official Competitions
• 1997 – Nagoya (Japan) • 2006 – Bremen (Germany) • 1998 – Paris (France) • 2007 – Atlanta (USA) • 1999 – Stockholm (Sweden) • 2008 – Suzuhu (China) • 2000 – Melbourne (Australia) • 2009 – Graz (Austria) • 2001 – Seattle (USA) • 2010 – Singapore (Singapore) • 2002 – Fukuoka (Japan) • 2011 – Istanbul (Turkey) • 2003 – Padua (Italy ) • 2012 – Mexico City (Mexico ) • 2004 – Lisbon (Portugal) • 2013 – Eindhoven (Holland) • 2005 – Osaka (Japan) • 2014 – João Pessoa (Brazil)
Local Championships: • German Open (European), Japanese Open, Australian Open, American Open, Portuguese Open, Dutch Open Iranian Open, China Open, …
Participant/Awarded Countries: • Germany, USA, Japan, Iran, China, Australia, Portugal, Holland, Brazil, Singapore
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 17
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup: Global Perspective
• Soccer Leagues – Simulation: Sim2D, Sim3D (Humanoids), Coach, MR League – Robots Small-Size – Robots Middle-Size – Standard Platform (Aibo ; NAO ) – Humanoid Robots • RoboCup Rescue – Simulation , Virtual, Robotic • RoboCup Júnior • RoboCup@Home • RoboCup@Factory
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 18 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup Leagues: Simulation 2D
• Virtual Robots • 105*68m Virtual Field • Agents controlled by different computers (or processes) • Simulator sends perception and receives actions from agents • Teams of 11 players plus a coach
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 19
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup Leagues: Simulation 2D • 2D Simulator – Client-Server System – Agents (player’s brains) control a single player: • UDP sockets/Linux – Server: • Receives agent commands • Simulates movement of objects Server Architecture • Sends perceptions to the agents – Two teams with 11 players + coach, try to score goals! • Simulation Characteristics – Real-Time - Human – Distributed – 24 Processes – Inaccessible (hidden), Continuous and Dynamic World – Errors in: Perception, Movement and Action – Limited Resources and Communication – Multi-Objective, Cooperative and Adverse Environment
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 20 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup Leagues: Simulation 2D
• 1997: League Start -> Simple Play • 1998: Simple Passing and Good Individual skills • 2000: Formations and Soccer like Playing
Videos : Simulation 2D League
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 21
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions RoboCup Leagues: Simulation 3D
• Third dimension adds complexity • Complexities from real robots • Realistic physics and Robot Model: • Started with sphere in 2004 • Humanoids in 2007 • NAO Robot Model: 2008 • Strong relation with SPL • 6 vs 6 games -> 9 vs 9 -> 11 vs 11 • Heterogeneous Robots in 2012 • Very difficult to create competitive skills by hand!
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 22 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Humanoid Robot - Simspark
• Server ( SimSpark ) • Manages the simulation process • Updates world state • Enforces soccer rules - referee • Forces the “ laws of physics ”: • collisions, drag, gravity, ... • Agent connections, • Send sensor information (perceptors ) • Executes actions ( effectors )
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 23
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Simulation 3D – Spheres model
• 2004-2005: Very Basic playing! • 2006: Formations/High-level playing!
Videos: Simulation 3D Spheres model
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 24 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Simulation 3D – Humanoid model
• 2007-2010: Very Basic playing! • 2011: Formations/High-level playing!
Videos Simulation3D: Humanoid Robots
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 25
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Middle Size League • Robots are completely autonomous • 5 robots per team • Robots around 50x50cm and 80cm height • Field 18mx12m, green with white lines • MSL rules based on official FIFA laws
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 26 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Middle Size League
• 1998-2007: Very Basic playing! Individual Dribbling! • 2008: Formations SBSP/High-level playing/Setplays!
Videos: Middle Size League
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 27
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Flexible Strategy for RoboCup
• RoboCup Leagues: Simulation 2D, Simulation 3D, Small-Size, Middle- Size, SPL and Search and Rescue • Applications in four distinct teams: – FC Portugal (University of Porto/Aveiro/Minho) • Simulation 2D, Simulation 3D, Coach, MR, Rescue, SPL – CAMBADA (University of Aveiro ) – Prof. Nuno Lau • Middle-Size League, RoboCup@Home – 5DPO (University of Porto) – Prof. A.P.Moreira • Small-Size League, Middle-Size League – Portuguese Team (University of Porto/Aveiro/Minho) • SPL – Standard Platform League • More than 30 awards in International Competitions for these 4 Teams!
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 28 AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Our Teams: University of Porto/Aveiro
• Simulation 2D: FC Portugal – Best: Winners RoboCup 2000, – Winners Euro 2000, Euro 2001 • Simulation 3D: FC Portugal – Best: Winner RoboCup 2006, – Winners Euro 2006, Euro 2007 • Simulation – Coach: FC Portugal • Best: Winner RoboCup 2002, • 2nd RoboCup 2003, 2004 • Simulation – MR League: FC Portugal • Best: 2 nd RoboCup 2007 • Rescue Simulation: FC Portugal • Best: Winner Euro 2006
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 29
AI and Robotics| RoboCup and Our Teams | Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Our Teams: University of Porto/Aveiro
• Middle-Size: CAMBADA (Univ.Aveiro) – Best: Winners RoboCup 2008 • Small-Size: 5DPO (Univ.Porto) – Best: 2 nd RoboCup 2006, – Winners Euro 2001, 2006, 2007 • Middle -Size: 5DPO ( Univ.Porto ) • Best: 3 rd Euro 2001 • Standard Platform (Aibo): FC Portugal/FC Portus • Best: 5 th RoboCup 2003 • Standard Platform (NAO): Portuguese Team • Best: Starting in 2011
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 30 AI and Robotics | RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Presentation Outline
• Artificial Intelligence, Robotics and Simulation • RoboCup and Our Teams • Flexible Strategy for Robotic Teams – Strategy and Formations/SBSP – DPRE - Dynamic Positioning and Role Exchange – SetPlays and Graphical Setplay Definition – Generic Optimization of Skills/Decisions • Applications and other Projects at Portugal • Conclusions and Future Work
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 31
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions The Coordination Problem
• Coordinate autonomous robots decisions to carry out team tasks as efficiently as possible • Coordination challenges • Strategy • Role assignment • Formation • Plan execution • Communication
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 32 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Flexible Strategy for Robotic Teams
Our Approach: “Common Framework for Cooperative Robotics”: • Strategy - Strategical Coordination and Coaching • SBSP – Situation Based Strategic Positioning ( Formations ) • DPRE – Dynamic Position and Role Exchange • SetPlay Framework and Graphical Definition • Generic Optimizer of Skills/Decisions • Bridging the Gap Between Simulation and Robotics
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 33
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Formalization of a Team Strategy
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 34 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Coaching
• Game Statistics and Opponent Modeling Information • Time and Result • Individual Action: Active/Passive (with/without ball) • Transitions (Ball losses and Ball recoveries) • Attacks and Assistances • Ball Possession Assistant Coach Field Information Field • By: – Period Coach
– Region (from and to) Actions Game Statistics Game – Team Modeling Opponent – Player Definitions – etc. Principal Coach Players Instructions
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 35
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Coach Unilang
• Base Concepts: – Time Periods, Regions, Tactics, Formations, Situations, Player Types • Language Defined in BNF • Examples:
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 36 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Formations in Robotic Soccer
• Formations are an essential concept in multi-robot teams: • Provide a coordination framework: tasks/role assignment • Real impact on team performance • Can /should be adapted to team and opponent capabilities • Common concept with military units coordinated movements or real soccer formations
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 37
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Formation Models • Role based models • Ex: Striker, Supporter, Defender, Goalie • SPAR – Strategic Positioning with Attraction and Repulsion • Locker-Room agreement • SBSP – Situation Based Strategic Positioning • Distinction between active and passive situations • Distinct team movements for different situations • Strategic position based on global information (such as current ball position) keeps the team in the selected formation • SBSP/DT – Situation Based SP with Delaunay Triangulation • Added flexibility in the definition of positionings
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 38 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP - Situation Based Strategic Positioning
• Strategic Situation: SBSP – Strategic Positioning • Active Situation (with/without Ball): Active Behavior • Definition based on: Situation and Shared info (Ball Position)
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 39
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP vs SPAR
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 40 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP with Delaunay Triangulation
Based on Akiyama, 2007 Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 41
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP with Delaunay Triangulation
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 42 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Formations in the MSL
Videos: Formations in the MSL
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 43
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP with Flux
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 44 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SBSP with Flux • Calculates Flux, Safety and Easiness of all possible points considering the tactic in use!
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 45
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions
DPRE - Dynamic Positioning and Role Exchange
• Dynamic Exchange of Positionings and Behaviors based on utility: – Distances from players positions to their strategic positions – Positioning importance and adequacy of agents • DPRE improves the robotic team collective performance • Important against opponents with similar collective capabilities
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 46 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions
DPRE - Dynamic Positioning and Role Exchange
ALGORITHM DynamicPositioningExchange(WorldState, Situation, Positionings) RETURNS Positionings(TeamSize) PARAMETERS WorldState, Positionings[TeamSize], Situation { FOR PL1 = 2 TO TeamSize-1 DO FOR PL2 = PL1+1 TO TeamSize DO IF PositionValid(PL1) AND PositionValid(PL2) THEN { Dist11 = Distance(Position(Pl1), SBSPPosition (Pl1)) Dist22 = Distance(Position(Pl2),SBSPPosition(Pl2)) Dist12 = Distance(Position(Pl1),SBSPPosition(Pl2)) Dist21 = Distance(Position(Pl2),SBSPPosition(Pl1)) Adeq11 = PosAdequacy(Pl1, Positioning[Pl1]) Adeq22 = PosAdequacy(Pl2, Positioning[Pl2]) Adeq12 = PosAdequacy(Pl1, Positioning[Pl2]) Adeq21 = PosAdequacy(Pl2, Positioning[Pl1]) Util = ExchangePositions(DPREMode, Situation, Dist11, Dist22, Dist12, Dist21, Adeq11, Adeq22, Adeq12, Adeq21, PosImp(Positioning[Pl1]), PosImp(Positioning([Pl2]) IF Util > ThresUtil(Situation) THEN exchange(Positionings[Pl1], Positionings[Pl2]) } RETURN Positionings }
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 47
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions ADVCOM –Intelligent Communication
• Challenges: What and When to communicate? • What to Communicate? – Individual World State – to improve world state accuracy – Useful Events – for coordination • When to Communicate? – Communication utility is very high or is greater then communication utility (modeled) of teammates! – Creation of a Communicated World State !
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 48 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions MM - Mutual Modeling
• Motivation and principle: – Use Teammate and Opponent Models ! – Estimate their positions and actions! – Fuse this information with visual, sensorial, aural information – Enables more accurate world states – Very useful when vision and sensors are not of good quality
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 49
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplays: Concept and Definition
Simple, pre-defined but flexible plans, which describe cooperation and coordination between agents/robots • Defined before the game by a domain expert • Easy to define and change • Human readable language (high abstraction level) • Selected, Instantiated and executed at run -time (text file)
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 50 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplay Definition
(setplay :name simpleCorner :players (list (playerRole :roleName CornerP) (playerRole :roleName receiver) (playerRole :roleName shooter)) :steps (seq (step :id 0 :waitTime 15 :abortTime 70 :participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25 )) (at shooter (pt :x 36 :y 2))) :condition (playm fk_our) :leadPlayer CornerP :transitions (list (nextStep :id 1:condition (canPassPl :from CornerP :to receiver) :directives (list (do :players CornerP :actions (bto :players receiver)) (do :players receiver :actions (receivePass))))))
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 51
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplay Definition
(step :id 1 :waitTime 5 :abortTime 70 :participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25)) (at shooter (pt :x 36 :y 2)) ) :condition (and (bowner :players receiver) (playm play_on)) :leadPlayer receiver :transitions (list (nextStep :id 2 :condition (canPassPl :from receiver :to shooter) :directives (list (do :players receiver :actions (bto :players shooter)) (do :players shooter :actions (receivePass)))))) (step :id 2 :abortTime 70 :participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25)) (at shooter (pt :x 36 :y 2)) ) :condition (and (bowner :players shooter) (playm play_on) ) :leadPlayer shooter :transitions (list (nextStep :id 3 :condition (canShoot :players shooter) :directives (list (do :players shooter :actions (shoot))))))
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 52 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplays - Structure
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 53
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplays – Actions and Conditions
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 54 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Usage/Interest of Setplay Library
• Setplay Definition/ Graphical application • Implement Conditions and Actions • Deal with low level Communication • Decide Setplay start, eventually CBR/ML • Great flexibility: Application to all RoboCup leagues: – Simulation 2D, Simulation 3D, Middle Size, MR League, SPL)
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 55
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Setplays: Graphical Definition
Import
Export Formal Definition (Setplay framework )
SPlanner
RCSSMonitor 14.0.1
FCPortugal Debug LogPlayer RCSSLogPlayer included on SPlanner Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 56 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SetPlays in the Simulation 2D League
Videos: Setplay Graphical Definition Videos: Setplays in the Simulation 2D League
57/23 Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 57
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SetPlays in the MSL
Passes RolePasser RoleReceiver • Essential for teamplay PassFlag ← TRYING_TO_PASS Align to receiver Align to Passer • 3 phases PassFlag ← READY – Preparation/Alignment Kick the ball PassFlag ← BALL_PASSED – Pass Move to next position Catch ball – Catch ball • Used by CAMBADA in – Playoff – Free Challenge 2008 – Also on Playon!
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 58 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions SetPlays in the MSL
Videos: Setplays in the MSL
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 59
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Flexible Strategy for Robotic Teams
STWorldState <- FillInWSforStrategy(); Simple Example Actions <- CallStrategy(STWorldState); (from FCPortugal 3D): ExecuteActions(Actions); void FCPAgentH::FillInWSforStrategy() { WorldState& world = SWorldState::getInstance(); strategy->WS_GameTime = world.gTime; strategy->WS_Result = world.game->ourGoals- world.game->opponentGoals; strategy ->WS_BallPos = world.ball ->position.to2d(); / strategy->WS_BallOwner = world.->ball_owner; strategy->WS_BallIntPos = world.ball->finalPos.to2d(); strategy->WS_MyNumber = world.me->unum; strategy->WS_MyDir = world.me->orientation; for (int t = 1; t <= strategy->ST_NUM_PLAYERS; t++) { strategy->WS_TeamPos[t]= world.getFCPortugalPlayer(t)->position.to2d(); strategy->WS_OppPos[t] = world.getOpponentPlayer(t)->position.to2d(); strategy->WS_TeamConf[t] = world.getFCPortugalPlayer(t)->conf; strategy->WS_OppConf[t] = world.getOpponentPlayer(t)->conf; } strategy->WS_PlayMode = world.game->playmode; } Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 60 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Generic Optimization of Skills/Decisions
A skill consists in a purposeful, repeatable action taken by the executing agent, such as: • - Walk (forward/backward/side) • - Turn around • - Rotate around a point • - Kick the ball • - Catch the ball (fall down) • - Get up (front/back) • ... These can be specified once and executed as many times as necessary
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 61
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Humanoid Robot
XML File Parameters
Specification Agent Code Model
Angle Values sent to the server at each cycle Joint Values
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 62 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Humanoid Robot Skills FCP Types of Skills • Slot Behaviors • CPG Behaviors • TFS Walk Skills definition: • XML File • Flexible
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 63
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Generic Optimization • Find the best configuration of a set of kick the ball parameters to achieve a goal • The goal is to minimize or maximize a maximize distance quantity - the value of the objective travelled by the ball function Joint angles at certain • The independent variables that can time intervals, ... - change while trying to achieve the goal specification model are known as decision variables parameters • Decision variables can only take certain knee joints cannot values - variable domains bend forward • Decision variables can be subject to left & right arm joints further constraints must have the same values
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 64 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Generic Optimization
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 65
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Get Up Front Skill • Get the robot up after it fell down on the ground to its front • Skill Specification Model: Slot Behavior , Sine interpolation • Select metaheuristic: Hill climbing, simulated annealing, tabu search, PSO, ACO, genetic algorithms • 39 decision variables – after enforcing left & right side equality • Objectives: – Speed – Stability – Effectiveness
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 66 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Get Up Front Skill
Videos: Skill’s Optimization Process
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 67
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Results: Fast Stable Skills
Videos: Getup, kick and walk skills
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 68 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Results – 20 m Kick!!!
• Optimization increased Kick length from 9m to aprox 20m! • More than the double of the best Simulation3D teams
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 69
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions PT Teams: Portuguese Team
• Videos: Portuguese Team and Application to Real Humanoid Robots
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 70 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Selected Results: FC Portugal Competition Results: FCPortugal 2000 1st place in the 2D Simulation League, European 2000 1st place in the 2D Simulation League , RoboCup 2000 2001 3rd place in the 2D Simulation League, RoboCup 2001 1st place in the 2D Simulation League, European (GO) 2001 2002 1st place in the Coach Competition , RoboCup 2002 2003 2nd place in the Coach Competition, RoboCup 2003 2004 2nd place in the Coach Competition, RoboCup 2004 2006 1st place in the 3D Simulation League , RoboCup 2006 2nd place in the Small-Size League, RoboCup 2006 1st place in the 3D Simulation League, European 2006 1st place in the Rescue Sim League , European 2006 2nd place in the 2D Simulation League, European 2006 2007 1st place in the 3D Simulation League , European 2007 2nd place in the 2D Simulation League, European 2007 2nd place in the Physical Visual. League , RoboCup 2007 2009 3rd place in the 3D Simulation League, European 2009 3rd place in the 2D Simulation League, European 2009 2010 3rd place in the 3D Simulation League, European 2010 3rd place in the 2D Simulation League, European 2010
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 71
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams | Applications and Projects| Conclusions Selected Results: CAMBADA, 5DPO Competition Results: FC Portugal 2011 2nd place in the 3D Simulation League, European 2011 (GO) 2nd place in the 2D Simulation League, European 2011 (GO) 2012 1st place in the 3D Simulation League, European 2012 (DO) 3rd place in the 2D Simulation League, European 2012 (DO) 2nd place in the Rescue Simulation League, European 2012 (DO) Competition Results: CAMBADA and 5DPO 1998 5DPO: 3 rd place in the SSL League, RoboCup 2000 2001 5DPO: 1 st place in the SSL League League , European (GO) 2001 5DPO: 3 rd place in the MSL League League, European (GO) 2001 2002 5DPO: 2 nd place in the SSL League, European (GO) 2002 2003 5DPO: 2 nd place in the SSL League, European (GO) 2003 2004 5DPO: 1 st place in the SSL League, European (GO) 2004 2006 5DPO: 1st place in the SSL League, European 2006 5DPO: 2nd place in the SSL League, RoboCup 2006 2008 CAMBADA: 1 st place in the MSL League, RoboCup 2008 2009 CAMBADA: 3 rd place in the MSL League, RoboCup 2009 2010 CAMBADA: 2 nd place in the MSL League, European 2010 CAMBADA: 3 rd place in the MSL League, RoboCup 2010 2011 CAMBADA: 3 rd place in the MSL League, RoboCup 2011 Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 72 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Presentation Outline
• Artificial Intelligence and Robotics • RoboCup and Our Teams • Flexible Strategy for Robotic Teams • Applications and other Projects at Univ. of Porto and Minho – Agent Based Simulation: EcoSimNet, FlightSimNet – Educational/Assistive Robotics: Intellwheels, Robot Dancing – Strategic Reasoning: Poker Agents – Real Sports: Soccer, Indoor Sports (Handball) • Conclusions and Future Work
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 73
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions EcoSimNet: Agent-Based Ecologic Simulation
• Realistic simulation of ecological models – Difficult task – Mixing complex biological, chemical and physical processes – Slowness associated to each simulation • Integrate human factor/decisions in the simulation • Provide flexible services to help sustainable management of aquatic ecosystems – Custom solutions to “any” aquatic ecosystem – Environmental impact studies/water framework directive – Aquaculture optimization/Carrying capacity
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 74 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions EcoSimNet: Agent-Based Ecologic Simulation
• EcoDynamo – Simulator for aquatic ecosystems • Intelligent Agents – Include the human rationality in the scenarios generation and decisions • ECOLANG – Communication language for simulations of complex ecological systems • EcoSimNet – Platform that integrates all the previous – Enables parallel simulations - clusters
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 75
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Intellwheels: Intelligent Wheelchair
8.00 World elderly pop.
• Limited mobility: 6.00 – Increment of the elderly population 4.00 2.00 Physical disabilities: Cerebral Palsy, Tetraplegia – 0.00 1960 1980 2000 2020 – Inability to control electric wheelchairs Year • Intelligent Wheelchair: Robotic device provided with sensorial and actuation systems and processing capabilities: – (Semi)Autonomous behavior – Obstacle avoidance, navigation and planning – Flexible Human-Machine interaction – Cooperation with other IW/devices
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 76 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Intellwheels: Intelligent Wheelchair
• IW useful in practice: – Very low cost and ergonomic impact – Simulation/mixed reality – Flexible multi-modal interface – IW development platform
...
Joystick / Buttons Facial Expressions Voice Commands Head Gestures
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 77
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Intellwheels: Intelligent Wheelchair
...
Joystick / Buttons Facial Expressions Voice Commands Head Gestures
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 78 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Robot Dancing based on RTBT
Motivation: • Improve human-robot social interaction: – by means of bodily communication • Improve robotic expressiveness: – By imitation of human motion • Dance as a rich case study Goals: • Map human movement periodic patterns onto humanoid robots • Model and generate humanoid dance – Samba dance style as first case study
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 79
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Robot Dancing based on RTBT
Dance Motion Analysis Dance Motion Generation
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 80 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Robot Dancing based on RTBT
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 81
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Sports Analysis: Handball and Soccer
• Artificial Intelligence x Computer Vision x Intelligent Simulation • Detection and Tracking of Ball and Players • Intelligent Game Analysis: Coach Reports (Data Mining) • Creation of Players and Team Models (High -level models + Data mining) • Realistic Simulation of Soccer/Handball Games
Colour Back/Forg Forg Colour Pixel Calib. Detect Categ. Update Aggr.
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 82 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Indoor Sports Analysis: Handball
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 83
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Poker Strategy with Online Opp. Modeling
• Poker is a game humans find fascinating • Huge and growing market: • Casinos, tournaments, online, television • Challenge of Poker for DAI: Many new and interesting problems not faced in Chess, Go, or Backgammon: • Random, hidden information, bluffing and trapping, need for opponent modeling • Poker is a simple game that demands for complex strategies
• Project General Objective: – Develop an agent capable of beating the best human players in “No Limit, Multi-Player, Texas Hold’em, Poker”
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 84 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Poker Strategy with Online Opp. Modeling
POKERLANG
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 85
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Research Team – Finished Students 9. Jorge Filipe de Ribeiro Teixeira, Mar2008 (finish date) Former Phd Students 10. João Pedro Bugalho Certo, Mar2008 1. Pedro M. V. Moreira (PRODEP/IPVC, Mar2009) 11. João Manuel Marques de Oliveira, Mar2008 2. Vasco H. Vinhas G. Moreira (FCT, Oct2010) 12. Dinis Alexandre Marialva Felix, Mar2008 3. Francisco A. F. Reinaldo (FCT/Brasil, Nov2010) 13. Péricles Filomeno Monteiro Pinto, May2008 4. Rodrigo A. M. Braga (Capes/Brasil , Nov2010) 14. António Pedro da Silva Mota, May2008 5. António M. C. Pereira (FCT/FEUP, Dec2010) 15. João Carlos Leite Ferreira, Jun2008 6. Pedro M. H. C. Abreu (FCT, Mar2011) 16. João Manuel Lobato Oliveira, Jul2008 7. Daniel C. Silva (FCT, Nov2011) 17. Pedro Miguel de Castro Malheiro, Jul2008 18. Márcio Miguel Couto de Sousa, Jul2008 8. António Pedro Costa (FCT/U.Aveiro, Mar2012) 19. Marco Filipe Chaves Pinto da Silva, Jul2008 9. Luís H. R. Mota (FCT/ISCTE, Apr2012) 20. José Miguel Neves Leão de Campos, Jul2008 10. Pedro Valente (Univ. South. Denmark, Aug2012) 21. Ricardo Nuno Nóbrega Silva, Jul2008 Former MSc Students (finish date) 22. Daniel Tiago de Jesus Coutinho, Jul2008 23. André Miguel de Oliveira Rodrigues, Jul2008 1. Pedro Miguel Teixeira Faria, Nov2000 24. Pedro Melo Campos, Jul2008 2. Pedro Nuno Macedo Leite da Silva, Dec2000 25. Rui André Teixeira de Sousa Sêca, Jul2008 3. Sérgio Fernando Grilate Louro, Sep2004 26. Pedro Daniel da Cunha Mendes, Jul2008 4. Paulo César Basto Cardoso, July2006 27. Duarte Miguel Faria Ferreira Cabral, Jul2008 5. André Monteiro Oliveira Restivo, Oct2006 28. João Nuno Boavista Taborda, Jul2008 6. Darya Alexandrovna Barteneva, Apr2007 29. Luís Ângelo de Sá Barbosa, Jul2008 7. Marcelo Roberto Petry, Feb2008 30. Filipe Manuel Miranda da Cruz, Nov2008
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 86 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Research Team – Finished Students 50. Abel Fernando Neto M. Santos, Jul2010 Former MSc Students (finish date) 51. Pedro Daniel Pereira Alves de Sousa, Jul2010 31. Hugo Rafael de Brito Picado, Dec2008 52. João Paulo Santos Portela, Jul2010 32. Nuno Filipe dos Reis Almeida, Dec2008 53. Luis Filipe GuimarãesTeófilo, Jul2010 33. Pedro César Fonseca Gonçalves Alves, Jan2009 54. Hugo Miguel Pereira Peixoto, Jul2010 34. Rui Manuel Figueiredo de Almeida, Mar2009 55. Pedro Miguel Amorim Gomes, Jul2010 35. Pedro Ricardo da Nova Valente, Mar2009 56. Hugo Filipe P. A. S. Mendes, Jul2010 36. Luís Pedro Brandão Martinho, Mar2009 57. Miguel Augusto Pereira de Oliveira, Dec2010 37. Rui Filipe Lourenço Guedes, May2009 58. José Luís Machado Rei, Feb2011 38. Luís Filipe Gonçalves Lemos, May2009 59. Ivo Miguel da Paz dos Reis Gomes , Feb2011 39. José Maria Mendonça e Moura, Jul2009 60. Sérgio Miguel Fontes de Vasconcelos, Feb2011 40. Mário Joaquim Firmino Leite Faria, Jul2009 61. André Almeida Vidal, Feb2011 41. Antero Guimarães Pacheco da Silva, Jul2009 62. Paulo Sérgio Ribeiro Martins , Feb 2011 42. Rui Manuel Fernando Lopes, Jul2009 63. Maria João Tavares Barbosa Jul2011 43. Catarina M. B. N. Santiago, Jul2009 64. André Susano Pinto Jul2011 44. Nuno Pedro Silva da Cruz, Jul200 65. António Jorge Alpedrinha Ramos, Jul2011 45. Ricardo João Teixeira Santos Mestre, Jul2009 66. João Guilherme Cravo, Jul2011 46. José Carlos Pinto Miranda, Dec2009 67. Luís Miranda Cruz, Jul2011 46. Frederico Manuel S. C. B. Cunha, Mar2010 68. Nuno Miguel da Silva Passos, Jul2011 47. Vitor Hugo da Silva Pereira, Mar2010 69. Paulo Alexandre Alves de Sousa, Jul2011 48. Carlos Jorge Lemos Nunes, Mar2010 70. José Eduardo Castro Xavier, Jul2011 49. Filipe Teixeira Marques, Jul2010 71. Marco André Silva, Jul2011 Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 87
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Current Research Team
Current PhD Students (pred finish dates) PhD Researchers 1. Roberto Rodrigues (FEUP/PRODEI, E.S.F.V., Dec2012) 1. Pedro M. V. Moreira (IPVC) 2. João Lobato Oliveira (FEUP/PRODEI, FCT, Dec2012) 2. Rodrigo A. M. Braga (Univ. Fed. Sta Catarina) 3. Dulce Mota (FEUP/PRODEI, ISEP/PROTEC, Dec2012) 3. António M. C. Pereira (FEUP) 4. Marcelo Petry (FEUP/PRODEI, FCT/Brasil, 2013) 4. Pedro M. H. C. Abreu (DEI/UC) 5. Catarina Santiago ( FEUP/PRODEI, F.Gulbenkian, 2013) 5. Daniel C. Silva (DEI/UC) 6. Nima Shafii (FEUP/PRODEI, FCT/Iran, 2013) 6. Luís H. R. Mota (ISCTE) 7. Paula Rego (FEUP/PRODEI, IPVC/PROTEC, 2013) 7. António Pedro Costa (Loudomedia ) 8. Fernando Almeida (MAPI, FCT/IPV, 2013) 9. Marco Guimarães (FADEUP, Sports, 2013) Current MSc Students (pred finish dates) 10. Liliana Mendes (FPCUP, Psychology, 2014) 1. Bruno Vaz Queiroga Alves, 13 Feb2012 11. Luis Teófilo (FEUP/PRODEI, FCT, 2014) 2. Seraphin Miranda, 13 Feb2012 12. Rui Chirlo (FEUP/PRODEI, FCNAUP, 2014) 3. João Couto Soares, 13 Feb2012 13. Daniel Constantino (FEUP/PRODEI, ESVC, 2014) 4. Romina Neves, 13 Feb2012 14. Paulo Trigueiros (UMinho/DEI, 2014) 5. Rui Pedro Gomes Ferreira, 20 Feb2012 15. Abbas Abdlomeki (MAPI, FCT/Iran, 2015) 6. Nuno Resende, Jul2012 Current PostDoc Students 7. Cesar, Brandão, Jul2012 8. Rui Monteiro, Jul2012 1. Bruno Pimentel (FCT/ PhD UA, 2010-2012) 9. Gil J. Silva, Jul 2012 10. Carlos Eduardo Ermida Santos, Jul2012
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 88 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects | Conclusions Collaborations - Conferences
• 16th EPIA 2013 (Portuguese Conf. on Artificial Intelligence), Azores, Portugal , September 2013 - http://www.epia2013.uac.pt/ • Propose a Thematic Track (Deadline December 2012) • Submit Papers to EPIA – Portuguese Conference on Artificial Intelligence (Deadline March 2013) • 13th Portuguese Robotics Open 2013 (Festival Nacional de Robótica), Lisbon, April 2013 - www.robotica2012.org/ (webpage 2013 not yet available) • Participate in the Competitions (Deadline March 2013) • Submit Papers to the International Conference on Autonomous Robot Systems and Competitions (Deadline January 2013) • 8th CISTI 2013 (Iberian Conf. on Inf Systems na Technologies), Lisbon, June 2013 - http://www.aisti.eu/cisti2013/ • Propose a Workshop (Deadline November 2012) • Submit Papers to WISA@CISTI – Workshop on Intelligent Systems and Applications (Deadline March 2013) • PhD in Portugal (or Sandwich Portugal/Brasil) • Joint Participation in RoboCup • SPR – Portuguese Robotics Society • Joint Research Projects • LIACC, Porto • University of Minho , University of Porto, University of Aveiro • INESC Brasil Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 89
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Conclusions
• Coordination of Teams in Adversarial Environments: Strategy, Formations (SBSP/DT), DPRE, Setplays • Complete Tactical/Formation Framework including graphical interface • Complete Setplay Framework including graphical interface • Generic Coordination Framework/Library: • May be used for coordinating any team: – World State -> High -Level Decision! • Useful for researching on low-level Robotics! • Several MAS/MRT coordination methodologies developed with competition success • Applications to different robots for distinct cooperative robotic tasks and also to other domains : Rescue, surveillance, military apps
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 90 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Future Work • Strategy based on Tactics, Formations, Flux and Setplays: – Formations: flexible use of global vs local info – Apply and test in other leagues – Test Strategy definition by domain experts (using graphical application) – Heterogeneous Robot Teams and Human-Robot Teams • Setplays Framework – Learning/optimizing setplays using ML – Apply and test in other leagues – Test Setplay definition by domain experts (using graphical application) – Heterogeneous Robot Teams and Human-Robot Teams • Release Strategy and Setplay Frameworks for the community • Other Current Work : – Bridging the Gap between Simulation and Real Robotics: MSL Simulation, SPL League (3D Sim), Real Sports – Apply Strategy to other domains: Computer Poker – Real Soccer/Sports Research: Individual/team decision, game analysis, and realistic players/game simulation
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 91
AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Related Publications (1)
• Luis Mota, Luís Paulo Reis and Nuno Lau, Multi-Robot Coordination using Setplays in the Middle-size and Simulation Leagues, Mechatronics, Elsevier, Vol. 21, Issue 2, pp. 434-444, March 2011, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2010.05.005) (IF: 0.94; SCImago Q2) • Rodrigo A.M. Braga, Marcelo Petry, Luís Paulo Reis, A. Paulo .Moreira, IntellWheels: A Modular Development Platform for Intelligent Wheelchairs . JRRD - Journal of Rehabilitation Research and Development, Dep. of Veterans Affairs, USA, Vol. 48, Issue 9, pp. 1061-1076, Dec2011, ISSN: 0748-7711, (IF: 1.71; SCImago Q1) • Pedro H. Abreu, J.Moura, Daniel C. Silva, Luís Paulo Reis, Júlio Garganta, Performance Analysis in Soccer: a Cartesian Coordinates based Approach using RoboCup Data , Soft Computing - A Fusion of Foundations, Methodologies and Applications, Springer Verlag, Germany, Vol. 16, pp. 47–61, ISSN: 1432-7643, January 2012 (IF: 1.51; SCImago Q2) • Pedro Abreu, João Moreira, Israel Costa, Daniel Castelão, João Moreira, Luís Paulo Reis, Júlio Garganta, Human vs. Virtual Robotic Soccer: A Technical Analysis about Two Realities , European Journal of Sport Science , Taylor & Francis, Vol. 12, Issue 1, pp.26-35, January 2012, ISSN: 1746-1391 (IF: 0.89; SCImago Q2). • Daniel Silva, Rodrigo A.M. Braga, Luís Paulo Reis, Eugénio Oliveira. Designing a Meta-Model for a Generic Robotic Agent System using GAIA Methodology. Information Sciences , Volume 195, pp. 190-210, July 2012, Elsevier, ISSN: 0020-0255, (IF:2.84; SCImago Q1) (online first, to appear) • João Lobato Oliveira, Luiz Naveda, Fabien Gouyon, Luís Paulo Reis, Paulo Sousa, Marc Leman. A Parameterizable Spatiotemporal Representation of Popular Dance Styles for Humanoid Dancing Characters. EURASIP Journal on Audio, Speech, and Music Processing , Hindawi Publishing Corporation, USA, ISSN: 1687- 4714, 1687-4722 (IF: 0.34; SCImago Q3) (to appear) • B.M.Faria, G.Castillo, N.Lau, L.P.Reis, “Classification of FC Portugal Robotic Soccer Formations: A Comparative Study of Machine Learning Algorithms”, Robotica Journal, n. 82, 1st Trim., pp. 4-9, 2011, ISSN: 0874-9019
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 92 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Related Publications (2)
• C.B.Santiago, A.Sousa, L.P.Reis, M.L.Estriga, " Real Time Colour Based Player Tracking in Indoor Sports ", Computational Vision and Medical Image Processing, Computational Methods in Applied Sciences, 2011, Volume 19, 17-35, (Springer) • P.Martins, L.P.Reis, L.Teófilo, "Poker vision: Playing cards and chips identification based on image processing", (2011) Lecture Notes in Computer Science, 6669 LNCS, pp. 436-443. (Springer) • P.Abreu, I.Costa, D.Castelão, L.P.Reis, J.Garganta, " Human vs. robotic soccer: How far are they? A statistical comparison ", (2011) Lecture Notes in Computer Science, 6556 LNAI, pp. 242-253. (Springer) • N.Shafii, L.P.Reis, N.Lau, " Biped walking using coronal and sagittal movements based on truncated Fourier series ", (2011) Lecture Notes in Computer Science, 6556 LNAI, pp. 324-335. (Springer) • E.Domingues , N.Lau , B.Pimentel , N.Shafii , L.P.Reis , A.J.R.Neves , " Humanoid behaviors: From simulation to a real robot " (2011) Springer LNCS , 7026 LNAI, pp. 352-364. (Springer) • A.S.Pinto, A.Pronobis, L.P. Reis, "Novelty detection using graphical models for semantic room classification", (2011) Lecture Notes in Computer Science, 7026 LNAI, pp. 326-339. (Springer) • Abdolmaleki, M.Movahedi, S.Salehi, N.Lau, L.P.Reis, " A reinforcement learning based method for optimizing the process of decision making in fire brigade agents ", (2011) Lecture Notes in Computer Science, 7026 LNAI, pp. 340-351. (Springer) • P.A.Rego, P.M.Moreira, L.P.Reis, "Natural user interfaces in serious games for rehabilitation", (2011) Proceedings of the 6th Iberian Conference on Information, Systems and Technologies, CISTI 2011, art. no. 5974331. (IEEE) • N.Shafii, L.P.Reis, R.J.F.Rossetti," Two humanoid simulators: Comparison and synthesis ", (2011) Proceedings of the 6th Iberian Conference on Information Systems and Technologies, CISTI 2011, art. no. 5974352. (IEEE)
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AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Related Publications (3)
• P.Sousa, J.L. Oliveira, L.P.Reis, F.Gouyon, " Humanized robot dancing: Humanoid motion retargeting based in a metrical representation of human dance styles ", (2011) Springer, 7026 LNAI, pp. 392-406. (Springer) • C.B.Santiago, J.L.Oliveira, L.P.Reis, A.Sousa, " Autonomous robot dancing synchronized to musical rhythmic stimuli ", (2011) Proc. of the 6th Iberian Conf. on Info. Syst. Technologies, CISTI 2011, (IEEE) • C.B. Santiago, L.P.Reis, R.Rossetti, A.Sousa, " Foundations for creating a handball sport simulator", (2011) Proceedings of the 6th Iberian Conf. on Information Systems and Technologies, CISTI 2011, (IEEE) • Luís Mota, Luís Paulo Reis, Nuno Lau, Multi-Robot Coordination using Setplays in the Simulation League , Proc. 10th Conf. on Mobile Robots and Competitions, ROBÓTICA'2010, March, Leiria , 2010. • Brígida Mónica Faria, Gladys Castillo, Nuno Lau, Luis Paulo Reis, Classification of FC Portugal Robotic Soccer Formations: A Comparative Study of Machine Learning Algorithms , Proc. of the 10th Conference on Mobile Robots and Competitions, - ROBÓTICA'2010, March, Leiria, 2010. • Luís Paulo Reis, Rui Lopes, Luís Mota, Nuno Lau, Playmaker: graphical definition of formations and setplays , Second Workshop on Intelligent Systems and Applications (WISA), CISTI 2010 - 5ª Conferência Ibérica de Sistemas e Tecnologias de Informação, Santiago de Compostela, 16-19 Junho, 2010. • Brigida Monica Faria, Luis Paulo Reis, Nuno Lau, Gladys Castillo, Machine Learning Algorithms applied to the Classification of Robotic Soccer Formations and Opponent Teams , IEEE International Conference on Cybernetics and Intelligent Systems and IEEE International Conference on Robotics, Automation and Mechatronics (IEEE CIS & RAM 2010), Singapura, 2010.
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 94 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Related Publications (4)
• Nuno Lau, Luis Seabra Lopes, Gustavo Corrente, Nelson Filipe, Ricardo Sequeira, Robot team coordination using dynamic role and positioning assignment and role based setplays , Mechatronics, Elsevier, ISSN 0957-4158, 2010 (In Press). • João Silva, Nuno Lau, Antonio J. R. Neves, João Rodrigues, José Luis Azevedo, World modeling on an MSL robotic soccer team , Mechatronics, Elsevier, ISSN 0957-4158, 2010 (In Press) • Nima Shafii, Omid Mohamad Nezami, Siavash Aslani and Saeed Shiry Ghidary . Evolution of Biped Walking Using Truncated Fourier Series and Particle Swarm Optimization, RoboCup Symposium 2009, J.Baltes et al. editors, Springer, LNAI, Graz, Austria, 2009. • Frederico Santos, Luis Almeida, Luis Seabra Lopes, José Luís Azevedo , Manuel Bernardo Cunha, Communicating among Robots in the RoboCup Middle-Size League, RoboCup Symposium, J.Baltes et al. es , Springer, LNAI, Graz, Austria, 2009. • Márcio Sousa, Rodrigo Braga and Luis Paulo Reis. Intellwheels MMI: A Flexible Interface for an Intelligent Wheelchair, RoboCup Symposium 2009, J.Baltes et al., editors, Springer, LNAI, Graz, Austria, 2009. • Pedro Malheiro, Rodrigo Braga,Luis Paulo Reis , Development of a Realistic Simulator for Robotic Intelligent Wheelchairs in a Hospital Environment , RoboCup Symposium 2009, J.Baltes et al. eds Springer, LNAI, Graz, Austria, 2009. • Hugo Picado, Marcos Gestal, Nuno Lau, Luís Paulo Reis, Ana Maria Tomé, Automatic Generation of Biped Walk Behavior Using Genetic Algorithms . In J.Cabestany et al. (Eds.), 10th International Work- Conference on Artificial Neural Networks, IWANN 2009, Springer, LNCS Vol. 5517, pp. 805-812, Salamanca, Spain, June 10-12, 2009. • André Conceição, A. Paulo Moreira, Paulo Costa, A Practical approach of Modeling and Parameters Estimation for OmniDirectional Mobile Robots, IEEE/ASME Transactions on Mechatronics, Vol. 14, Nº 3, pp. 377-381, June 2009.
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• Luís Mota, Nuno Lau, Luis Paulo Reis , Coordination in RoboCup’s 2D Simulation League: Setplays as flexible, Multi-Robot plans , IEEE International Conference on Cybernetics and Intelligent Systems and IEEE Int. Conf. on Robotics, Automation and Mechatronics (IEEE CIS & RAM 2010), Singapura, 2010 • André Conceição, A. Paulo Moreira, Paulo Costa, A Practical approach of Modeling and Parameters Estimation for OmniDirectional Mobile Robots, IEEE/ASME Transactions on Mechatronics, Vol. 14, Nº 3, pp. 377-381, June 2009. • Nuno Lau, Luís Seabra Lopes, G. Corrente and Nelson Filipe , Multi-Robot Team Coordination Through Roles, Positioning and Coordinated Procedures, Proc.IEEE/RSJ Int. Conf. on Intelligent Robots and Systems – IROS 2009, St. Louis, USA, Oct. 2009. • Rui Almeida, Luís Paulo Reis, Alípio Mário Jorge: Analysis and Forecast of Team Formation in the Simulated Robotic Soccer Domain , 14th Port. Conf. on Artificial Intelligence, EPIA'2009, Aveiro , LNAI 5816, Springer, pp 239-250, October 12-15, 2009. • Nuno Lau, Luis Seabra Lopes, Gustavo Corrente and Nelson Filipe, Roles, Positionings and Set Plays to Coordinate a MSL Robot Team, 14th Port. Conf. on Artificial Intelligence, EPIA'2009, Aveiro, LNAI 5816, Springer, pp 323-337, October 12-15, 2009. • Luis Mota, Luís Paulo Reis , A Common Framework for Cooperative Robotics: an Open, Fault Tolerant Architecture for Multi-league RoboCup Teams, International Conference on Simulation Modeling and Programming for Autonomous Robots (SIMPAR 2008), Springer-Verlag, LNCS/LNAI series, pp. 171-182, Venice, Italy, November, 3-7, 2008. • Nuno Lau, Luís Paulo Reis and João Certo, Multi-Level, Functional, Spatial and Temporal Agent’s Reasoning Debugging , Proc. 13th Port.Conf. on AI, EPIA 2007, New Trends in Artificial Intelligence, pp. 716-726, Guimarães, Portugal, December 3-6, 2007. • Nuno Lau and Luis Paulo Reis, FC Portugal - High-level Coordination Methodologies in Soccer Robotics , Robotic Soccer, Book edited by Pedro Lima, Itech Education and Publishing, Vienna, Austria, pp. 167- 192, December 2007, ISBN 978-3-902613-21-9.
Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer, Luis Paulo Reis, LARS/SBR 2012, Fortaleza, Brazil, 96 AI and Robotics| RoboCup and Our Teams| Flexible Strategy for Robotic Teams| Applications and Projects| Conclusions Related Publications (6) • Luis Mota, Luís Paulo Reis, An Elementary Communication Framework for Open Co-operative RoboCup Soccer Teams , in Sapaty P; Filipe J (Eds.) 4th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2007 – 3rd International Workshop on Multi-Agent Robotic Systems (MARS 2007), pp. 97- 101, Angers, France, May 9-12, 2007. • João Certo, Nuno Lau e Luís Paulo Reis, A Generic Multi-Robot Coordination Strategic Layer, RoboComm 2007 - First International Conf. on Robot Communication and Coordination, Athens, Greece, October 15-17, 2007. • Luís Mota e Luís Paulo Reis, Setplays: Achieving Coordination by the appropriate Use of arbitrary Pre-defined Flexible Plans and inter-robot Communication, RoboComm 2007 - 1st Int. Conf. on Robot Communication and Coordination, Athens, Greece, October 15-17, 2007. • Nuno Lau, Luís Paulo Reis e João Certo, Understanding Dynamic Agent’s Reasoning, In Progress in Artificial Intelligence, 13th Port. Conf. on AI, EPIA 2007, Guimarães , Portugal, December 3 -6, 2007, Springer LCNS, Vol. 4874, pp. 542-551, 2007. • André Scolari Conceição, A. Paulo Moreira, Luís Paulo Reis and Paulo J. Costa. Architecture of Cooperation for Multi-Robot Systems, 1st IFAC Workshop on Multivehicle Systems (MVS'06), Bahia Conv. Center, Salvador, Brazil, October 2 – 3, 2006. • Luís Paulo Reis and Nuno Lau, COACH UNILANG – A Standard Language for Coaching a (Robo) Soccer Team, in Andreas Birk, Silvia Coradeschi and Satoshi Tadokoro, editors, RoboCup2001 Symposium: Robot Soccer World Cup V, Springer Verlag LNAI, Vol. 2377, pp. 183-192, Berlin, 2002, ISBN 3-540-43912-9. • Luis Paulo Reis, Nuno Lau and Eugénio C. Oliveira, Situation Based Strategic Positioning for Coordinating a Team of Homogeneous Agents in M. Hannebauer, J.Wendler and E.Pagello Editors, Balancing Reactivity and Social Deliberation in Multi-Agent System – From RoboCup to Real-World Applications, Springer LNAI, Vol. 2103, pp. 175-197, 2001
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Questions? Flexible Coordination of Multi-Robot Teams: Applications in Robotic Soccer Luís Paulo Reis [email protected] http://www3.dsi.uminho.pt/lpreis Member of the Directive Board of LIACC – Artificial Intelligence and Computer Science Lab. Of the University of Porto, Portugal Associate Professor at School of Engineering, University of Minho, Portugal
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