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Robocup Soccer Leagues Reports RoboCup Soccer Leagues Daniele Nardi, Itsuki Noda, Fernando Ribeiro, Peter Stone, Oskar von Stryk, Manuela Veloso n RoboCup was created in 1996 by a group oboCup was created in 1996 by a group of Japanese, of Japanese, American, and European artifi- American, and European artificial intelligence and cial intelligence and robotics researchers with robotics researchers with a formidable, visionary long- a formidable, visionary long-term challenge: R term challenge: By 2050 a team of robot soccer players will By 2050 a team of robot soccer players will beat the human World Cup champion team. beat the human World Cup champion team. At that time — In this article, we focus on RoboCup robot the mid 1990s — there were very few effective mobile robots, soccer, and present its five current leagues, and the Honda P2 humanoid robot had just been presented which address complementary scientific chal- to the public for the first time. The RoboCup challenge, set as lenges through different robot and physical an adversarial game between teams of autonomous robots, setups. Full details on the status of the was therefore a fascinating and exciting development as well RoboCup soccer leagues, including league his- 1 tory and past results, upcoming competitions, as a reference problem for AI. and detailed rules and specifications are RoboCup introduced three robot soccer leagues, Simula- available from the league homepages and tion, Small Size, and Middle Size, and organized its first com- wikis. petitions at the 1997 International Joint Conference on Arti- ficial Intelligence, held in Nagoya, Japan. It had a surprisingly large number (100!) of participants. From those modest Copyright © 2014, Association for the Advancement of Artificial Intelligence. All rights reserved. ISSN 0738-4602 FALL 2014 77 Reports beginnings grew what has become a large, vibrant The Simulation League research community that continues to grow. RoboCup soon established itself as a structured The Simulation League is a competition of virtual organization — RoboCup Federation2 — that spon- soccer agents (robots). The physical level simulation sored annual competition events where the scientific as soccer-playing robots is simplified and abstracted challenges faced by the researchers are addressed in a so that researchers can focus on developing strategic- setting that can be viewed by the general public. level intelligent agents that realize cooperative RoboCup events have now become quite popular behaviors. Currently, this league consists of two sub- both with the general public as well as the research leagues, the 2D League (two-dimensions) and the 3D community. The events now also include a technical League (three-dimensions), separated according to symposium featuring contributions that are relevant the abstraction level of the physical simulation. to the RoboCup competitions and beyond. The 2D subleague involves a game of two teams In addition to robot soccer, RoboCup has begun with 11 players using the FIFA World Cup’s full-size 2D addressing concrete challenges faced by society. Since soccer field. A player is modeled as a circle with two 1999, for example, RoboCup Rescue (Sheh et al. facing directions (body and head), and can do turn, 2012), motivated by the difficulties faced after the dash, kick, and turn-head as basic actions. So the agent Kobe earthquake in 1997, has been addressing the program needs to dynamically generate suitable development of robots to support search and rescue sequences of these actions according to each situation. The 3D subleague uses a more realistic model of operations. In 2006, RoboCup@Home (Wisspeinter robots based on Aldebaran’s Nao, which can act in a et al. 2009) began focusing on human-robot interac- 3D space. Players’ actions are motor commands to tion and the development of useful robotic applica- each joint of the body. Hence, controlling the motion tions that can assist humans in everyday life. Recent- of the robot becomes more challenging than in the ly, RoboCup had begun addressing industrial 2D subleague. domains: the competition RoboCup@Work is at a In recent years, the Simulation League — especial- preliminary stage. The Logistics League, a new league ly the 2D subleague — has become a game of strate- sponsored by Festo (a global manufacturer of pneu- gies rather than of individual skills or team tactics. In matic and electromechanical systems, components, the early stage of the Simulation League, the partici- and controls for process control and factory automa- pants focused on the development of skills to control tion solutions), was introduced in 2012 to address each player and gain better ball handling and motion abstract factory logistics. Finally, since 2000, planning, as in other physical robot leagues. Partici- RoboCup Junior has provided students up to the age pants have thus addressed team tactics like position- of 19 with a new and exciting way to understand sci- ing of players and role assignment and adaptation ence and technology. and learning methods to adjust pass plans among The RoboCup Federation organizes a single yearly multiple players. While this capability still presents international event (RoboCup 2014 was held in João several challenges, several teams have also started Pessoa, Brazil, July 21–25) that attracts more than working on the strategic game-plan level, in which 1500 participants and features nearly 200 teams in they change their play styles and formations accord- the major leagues. RoboCup has a broad internation- ing to the opponent performance during a game. al participation, with teams joining from more than This change means that dynamic opponent model- 40 countries worldwide. As the number of RoboCup ing is now required to build a winning team. In the researchers grows over the time, RoboCup has had to near future, deep planning and learning methods to limit participation to a fixed number of competing model opponents and fool the opponent’s analysis teams per event. Consequently, researchers also are expected to emerge. organize regional communities and events, several of Separation among levels of strategy, tactics, and which now equal the size of the main international skills is not trivial, and the architecture still raises event. interesting open issues. However, to encourage In this article, we focus on RoboCup robot soccer, researches on more strategic planning and learning, and present its five current leagues, which address the Simulation League has adopted the coach agent complementary scientific challenges through differ- system. A coach agent can observe all movements in ent robot and physical setups. Full details on the sta- the field and can communicate with player agents at tus of the RoboCup soccer leagues, including league restricted times, for example during out-of-play. As a history and past results, upcoming competitions, and consequence, the coach agent can make a team- detailed rules and specifications are available from strategic decision and control team tactics according the league homepages and wikis.3 The proceedings of to the game situation. This means that participants the annual RoboCup Symposia (published by need to think about how to divide the control of the Springer Verlag)4 provide a large collection of game between coach and players. research achievements in all the RoboCup leagues. The Simulation League has been used as a test bed Additional reports on RoboCup events have to measure performance of learning and representa- appeared in AI Magazine. tion of teamwork (collaborative behaviors of multia- 78 AI MAGAZINE Reports a b Figure 1. The Simulation League. (a) 2D simulation. (b) 3D simulation. gents). For example, the ability to transfer learned game is a complex problem, the design of teamwork behavior from simple tasks to complex ones in mul- in the Simulation League is an outstanding research tiagents was shown by using the framework of the challenge that can be addressed by applying incre- Simulation League. Because soccer as a multiagent mental and iterative methods like machine learning. FALL 2014 79 Reports Figure 2. The Small Size League. The Small Size Robot League number of robots per team has increased from 3 to 6. Each robot must fit within a 180-millimeter-diame- The RoboCup Small Size Robot League consists of a ter circle and be no higher than 15 centimeters. All specific organization in which two teams of small the teams converged in choosing to use the allowed robots compete against each other under three core centralized perception and computation, and the assumptions: (1) robots may be built by researchers league evolved to a common robot marking system, only under a size restriction, that is, there are no con- now processed by a common vision system, SSL- straints on any other aspects of the robot hardware Vision, whose output is then shared with all the indi- such as weight, cost, materials, or capabilities like vidual team computers. The SSL-Vision is open kicking devices; (2) a central vision system may be source, created and maintained by the league’s com- used to perceive the complete playing field, and (3) munity, and can be configured to be used beyond the robots may receive motion commands remotely from specific Small Size League setup. an external computational, nonhuman, source. A common computer is used to communicate ref- The RoboCup Small Size League was one of the first eree commands and position information to the team three leagues of RoboCup. Like all the other leagues, computers. After initial manual robot setting at game the technical challenges faced by the participants stoppage events, the robots completely autonomous- have increased every year. The size of the field, once ly process all referee and game calls by positioning the size of a ping-pong table, will, for 2014, be 12 by themselves; typically, most, sometimes all, of the pro- 8 meters with corresponding line markings and goal cessing required for coordination and control of the sizes.
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