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Overview of Robocup-97 Overview of RoboCup-97 Itsuki Noda I nodaOetl.go.jp Shoji Suzuki 2 ssuzuki@aras, eng. osaka-u, ac. jp Hitoshi Matsubara 1 matsubaz'~etl.go, jp Minoru Asada 2 asadaOams.eng.osaka-u.ac, jp and Hiroaki Kitano 3 kitano~csl, sony. co. jp 1 Electrotechnical Laboratory~ Umezono 1-1-4, Tsukuba, Ibaraki 305, JAPAN 2 Osaka University, Yamadaoka 2-1, Suita, Osaka 565, JAPAN 3 Sony, Computer Science Laboratory, Higashi-Gotanda 3-14-13, Shinagawa, Tokyo 141 JAPAN Abstract. RoboCup-97, The First Robot World Cup Soccer Games and Conferences~ was held at the Fifteenth International Joint Conference on Artificial Intelligence. There were two leagues: real robot and simu- lation. 10 teams participated in the real robot league and 29 teams did in the simulation league. The World Champions axe CMUnited (CMU, U.S.A.) for the Small-Size league, Dreamteam (Univ. of Southern Cal- ifornia, U.S.A.) and Trackies (Osaka Univ., Japan) for the Middle-Size leaglm, and At-Humboldt (Humboldt Univ., Germany) for the Simu- lation league. The Scientific Challenge Award was given to Semi Luke (Univ. of Maryland, U.S.A.) for his genetic programming based simula- tion team and the Engineering Challenge Awards was given to UttoriU- aired (Utsunomiya Univ., Toyo Univ. and RIKEN, JAPAN) and RMIT (Royal Melbourne Institute of Technology, Australia) for designing novel omni-directional driving mechanisms. RoboCup-98, the Second Robot World Cup Soccer Games and Conferences, will be held at the Third In- ternational Conference on Multi-Agent Systems at Paris~ France in July 1998. 1 Introduction RoboCup is an attempt to promote AI and robotics research by providing a common task, Soccer, for evaluation of various theories, algorithms, and agent architectures[Kitano et a/.1997a]. RoboCup-97, The First Robot World Cup Soc- cer Games and Conferences, was held in August 22-28 1997 at Nagoya Congress Center, Japan. RoboCup-97 was the official event of IJCAI-97, The Fifteenth International Joint Conference on Artificial Intelligence. RoboCup-97 consists of competitions, kexhibitions, and a technical workshop. Workshop was attended by over 150 researchers, and organized as a part of IJCAI-97 workshop program. Competitions were organized into the simulator league, the small-size robot league, and the middle-size robot league. Overall, 38 teams participated in RoboCup-97 from 10 countries. There were 29 teams for the simulation league, 4 teams for the small-size robot league, and 5 teams 21 for middle-size robot league. During RoboCup-97, Over five thousand people watched the games and over one hundred international media reported the games and workshop. This article reports RoboCup-97. RoboCup-97 had two leagues: real robot league and simulation league. Real robot league had tow leagues: small-size and middle-size. Aside from the world championship awards, RoboCup created the RoboCup Scientific Challenge award and Engineering Challenge Award, to be equally prestigious award as the world champion. The detailed information about RoboCup is available from: http:llwww.robocup.org/RoboCup Fig. 1. R,,b,~Cut)-97 (C(,t~yright,. 1997 P. l)I~dlly/Eur,qi~,s. All right r,~scrv(:d.) 2 Real Robot League The Real Robot League whi('h uses physical robots to play soccer games con- sists of several categories. In RoboCup-97, there were two categories for game competition and one for skill competition. The Small-Size League: A team consists of five robots and plays on a field equivalent to one ping-pong table. Each robot is about 15cm in diameter, or under 180cm 2 and the maximum length nmst be less than 18cm. An orange golf ball is used. 22 The Middle-Size League: Here, there are five robots per team, and each robot must be less than 50cm in diameter, or 2,000cm 2. A FIFA size 4 Futsal ball is used. The field of play is equivalent to 9 ping-pong tables (3 by 3). The Expert Robot League: Competition between robots having special skills, These skills will concentrate on isolated aspects of the game of soccer. For the real robot league in the first RoboCup-97, about 10 teams through- out the world participated in the competition: four teams (Carnegie Mellon University (USA), Paris-Vt (France), University of Girona (Spain), and Nara Advanced Institute of Science and Technology (Japan)) in the small-size robot league, five teams (ISI/USC (USA), Osaka University (Japan), Ullanta Perfor- mance Robotics (USA)~ RMIT (Australia), Uttori United - A joint team of Riken, Toyo Univ., and Utsunomiya Univ. (Japan)) participated in the middle size league, and two teams (RMIT (Australia) and Colorado School of Mines (USA)) in the expert robot league. 2.1 The Small-Size League For the small robot league, the use of global vision system is permitted, which enables the team to plot absolute position information for each robot and the ball. A ping pong table was selected as the basic field size because it is a low cost standardized material which can be purchased throughout the world. We initially defined a field as 1/100 of the FIFA world cup field which is 120m by 90m. However, in this case, researchers would have had to build everything from scratch. Considering the amount of work that has to be done in building robots, field construction really presents no major efforts, nevertheless, it seemed important that necessary materials be a widely available. This is particularly important as the RoboCup becomes widely used for educational purposes. Figure 2 shows a scene of a match of the small robot league. Global vision is permitted in this league for two reasons. First, it is rather difficult for this size of robot to have an on-board camera system. If they did, it would inevitably be very expensive so that many under-funded research groups would not be able to participate in the initiative. Second, the use of global vision allows us to investigate issues of distributed vision systems expected to cooperate with each other for video surveillance, monitoring, and guidance. Actually, three of four teams adopted the global vision system, and only one team, NAIST (Japan) adopted an on-board vision system for each of their two robots. Figure 3 shows the robot of each team. Six games were scheduled for the preliminary rounds so that every team may have games with M1 teams. However, due to conflict in radio frequency for robot control there was no game between MICROB and Girona. Table 1 shows the result of the preliminary games for the small-size league. 1. MICROB Universite Paris VI, France (Dominique Duhaut, et al.) 23 Fig. 2. A match of the small robot league 2. University of Girona, Spain (Josep Li De la Rosa, et al.) 3. CMUnited Carnegie Mellon University, USA (Manuela Veloso, et al.) 4. Nara Institute of Science and Technology, Japan (Takayuki Nakamura, et ~tl.) vs Team Teaan Team Team Points GoM Goals Rank 1 2 3 4 Diff Scored Tcam I:MICROB 0-0 1-3 0-0 2 -2 1 3 Team 2:Girona U. 0-0 0-2 0-1 1 -3 0 4 Team 3:CMUnited 3-1 2-0 5-0 6 9 10 1 Team 4:NAIST 0-0 1-0 0-5 3 -4 1 2 Table 1. Result of tile small-size league Preliminary According to the rank of the preliminary, CMUnited and NAIST were se- lected to the final, and the Small-size league World Champion was awarded to CMUnited fi'om Carnegie Mellon University which won over Nara Advanced Institute of Science and Technology, Japan by a 3-0 score in the final. 24 MICROB CM/.m~t,ed Fig. 3. Participated robots 2.2 The Middle-Size League In this league, a FIFA, size 4, futsal ball is used. The size of the field is 8.2m × 4.5m which is equivalent to nine ping pong tables. Figure 4 shows a scene of a match. This year, we had five teams in the middle-size league each of which has its own features in several aspects: 1. Trackies, Osaka Univ. Japan (Asada Lab.) : remote brain systems, non- holonomic vehicles, four attackers and one goalee with omnidirectional vi- sion system. Learning techniques to obtain basic skills such as shooting and avoiding. 2. RMIT Raiders: Royal Melbourne Institute of Technology (RMIT), The De- partment of Computer Systems Engineering, Research Center, Australia (Andrew Price, et al.) : special mechanical design for omnidirectional motion of the round-shape robots, global vision system was used to control their four robots. 3. Ullanta Performance Robotics, U.S.A. (Barry Werger, et al.): three robot platforms provided by Real World Interface Corp., which has vision, sonar, and bumper sensors. 4. Uttori United: Utsunomiya Uni., Toyo Univ., and The Institute of Physical and Chemical Research (Riken), Japan (Kazutaka Yokota, Hajime Asama, et al.): special mechanical design of omnidirectional motions different from RMIT team. Explicit communication through infra-red, completely on-board system 25 . Dreamteam University of Southern California, Information Science Institute, USA (Wei-Min Shen, et al.) : completely on-board system. The same body as Trackies are used. Figure 5 shows the robot of each team. Fig. 4. A match of the middle robot league Figure 6 shows visual images from four out of five robots being used by Osaka University Trackies. It should be noted that one of tile robots uses an omni-vision camera system which can view 360 degrees. Typically, a goMee robot will be equipped with such a camera system, as it must respond quickly to opponent's shots fl'om any direction. This set up focuses on a situation where ali robots have their own sensing systems and are not backed up by any global sensing systems.
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