RoboCup 2001: Robot Soccer World Cup V

Front Cover
Andreas Birk, Silvia Coradeschi, Satoshi Tadokoro
Springer Science & Business Media, Jul 12, 2002 - Technology & Engineering - 768 pages
RoboCup 2001, the Fifth Robot World Cup Soccer Games and Conferences, was held from August 2–10, 2001, at the Washington State Convention and Trade Center in Seattle, USA. Like the previous international RoboCup events – RoboCup 97 in Nagoya, Japan; RoboCup 98 in Paris, France; RoboCup 99 in Stockholm, Sweden; and RoboCup 2000 in Melbourne, Australia – RoboCup 2001 included a symposium as well as several robotic competitions. Both parts, the symposium and the tournaments, are documented in this book. The symposium received over 80 submissions of which 18 were selected for full presentation, i. e. , a talk at the symposium and a 10-page contribution to this book, and 40 were selected as posters, i. e. , a poster presentation at the s- posium and a 6-page contribution to this book. Among the full presentations, ?ve were selected as ?nalists for the Scienti?c and the Engineering Challenge Awards. These ?ve papers are presented separately in the second chapter of this book. The Scienti?c Challenge Award went to the contribution “A Control Method for Humanoid Biped Walking with Limited Torque” by Fuminori - masaki, Ken Endo, Minoru Asada, and Hiroaki Kitano. The Engineering Ch- lenge Award was given to the paper “A Fast Vision System for Middle Size Robots in RoboCup” by M. Jamzad, B. S. Sadjad, V. S. Mirrokni, M. Kazemi, R. Ghorbani, A. Foroughnassiraei, H. Chitsaz, and A. Heydarnoori. The s- posium also featured an invited talk by Prof.
 

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Contents

The Tournament Results of the Different Leagues of RoboCup2001
1
An Implementation of ObservationBased Plan Coordination in RoboCup Simulation Games
12
LuckyStar II Team Description Paper
22
CS Freiburg 2001
26
The UNSW RoboCup 2001 Sony Legged Robot League Team
39
The First Rescue Simulation League Champion
49
A Control Method for Humanoid Biped Walking with Limited Torque
60
A Fast Vision System for Middle Size Robots in RoboCup
71
Using Heterogeneous Players
495
Behavior Combination and Swarm Programming
499
ChaMeleons01 Team Description
503
Deep Behaviour ProjectionAgent Architecture
507
Essex Wizards 2001 Team Description
511
Flexible Teamwork and Configurable Strategy
515
HelliRespina 2001 Team Description Paper
519
Lazarus Team Description
522

Designing an Omnidirectional Vision System for a Goalkeeper Robot
81
An Extensible Framework Supporting Immediate Remote Access to Logfiles
92
Agent Based Approach in Disaster Rescue Simulation From TestBed of Multiagent System to Practical Application
102
Planning and Executing Joint Navigation Tasks in Autonomous Robot Soccer
112
A Case Study of How Mobile Robot Competitions Promote Future Research
123
Global View by Cooperative Sensing
133
Multisensor Navigation for Soccer Robots
144
Visual Attention Control by Sensor Space Segmentation for a Small Quadruped Robot Based on Information Criterion
154
Language Design for Rescue Agents
164
Specifying Rational Agents with Statecharts and Utility Functions
173
COACH UNILANG A Standard Language for Coaching a RoboSoccer Team
183
Cooperative Probabilistic State Estimation for VisionBased Autonomous Soccer Robots
193
HighSpeed Obstacle Avoidance and SelfLocalization for Mobile Robots Based on Omnidirectional Imaging of Floor Region
204
A Machine Learning Testbed
214
Strategy Learning for a Team in Adversary Environments
224
Evolutionary Behavior Selection with ActivationTermination Constraints
234
Stereo Obstacle Detection Method for a Hybrid OmnidirectionalPinHole Vision System
244
SelfLocalisation Revisited
251
Object Orientation and Id without Additional Markers
257
Efficient Image Processing for Increased Resolution and Color Correctness of CMOS Image Sensors
263
Comparison of Several Machine Learning Techniques in PursuitEvasion Games
269
A Simple and Accurate Camera Calibration for the F180 RoboCup League
275
An FPGAVHDLBased Vision System for a Mobile Robot
281
A Framework for Robust Sensing in Multiagent Systems
287
Fast Parametric Transitions for Smooth Quadrupedal Motion
293
A Platform for the Teaching and Research of Multiagent Systems Design Using RoboCup
299
Developing a Low Cost Local Vision Team for the Small Size League
305
Design and Implementation of Cognitive Soccer Robots
312
Genetic Programming for Robot Soccer
319
As Time Goes By Using Time Series Based Decision Tree Induction to Analyze the Behaviour of Opponent Players
325
Design of a Humanoid for Running
331
Supervision of Robot Control
337
WalkieTalkie MIKE
343
Quadruped Robot Navigation Considering the Observational Cost
350
Evolving Fuzzy Logic Controllers for Sony Legged Robots
356
A Method for Incorporation of New Evidence to Improve World State Estimation
362
Omnidirectional Locomotion for Quadruped Robots
368
An Omnidirectional Vision System That Finds and Tracks Color Edges and Blobs
374
A Generalised Approach to Position Selection for Simulated Soccer Agents
380
On the Motion Control of a Nonholonomic Soccer Playing Robot
387
Evaluation of the Performance of CS Freiburg 1999 and CS Freiburg 2000
393
Using the Electric Field Approach in the RoboCup Domain
399
A TwoTiered Approach to SelfLocalization
405
Miro Middleware for Cooperative Robotics
411
Building User Models for RoboCupRescue Visualization
417
A Modular Hierarchical BehaviorBased Architecture
423
Localization and Obstacles Detection Using Omnidirectional Vertical Stereo Vision
429
Karlsruhe Brainstormers A Reinforcement Learning Approach to Robotic Soccer
435
Interpretation of Spatiotemporal Relations in RealTime and Dynamic Environments
441
Stochastic Gradient Descent Localisation in Quadruped Robots
447
Recognizing Probabilistic Opponent Movement Models
453
Design and Implementation of a Soccer Robot with Modularized Control Circuits
459
CooperationBased Behavior Design
465
Multiplatform Soccer Robot Development System
471
Online Navigation of Mobile Robot Among Moving Obstacles Using Ultrasonic Sensors
477
11monkeys3 Team Description
484
3T Architecture for the SBCe Simulator Team
487
Architecture of TsinghuAeolus
491
RoboLog Koblenz 2001
526
Team Description Mainz Rolling Brains 2001
531
Team Description of NITStones2001
535
Team YowAI2001 Description
539
The Dirty Dozen Team and Coach Description
543
An Initial Entry to the Simulation League
547
UvA Trilearn 2001 Team Description
551
Formation Decision Method Using Game Theory
555
4 Stooges
559
5dpo Team Description
563
CMDragons01 VisionBased Motion Tracking and Heteregenous Robots
567
FUFighters 2001 Global Vision
571
FUFighters Omni 2001 Local Vision
575
Owaribito A Team Description
579
RoboSix UPMCCFA France
583
Rogi Team Description
587
Roobots
591
Sharif CESR Small Size Robocup Team
595
The Team Description of the Team OMNI
599
Achieving Power and Agility in a Small Size Robot
603
ViperRoos 2001
607
Utility and PlanBased Action Selection Based on Probabilistically Estimated Game Situations
611
An Heterogeneous Robot Team for the 2001 MiddleSize League
616
Basic Requirements for a Teamwork in Middle Size RoboCup
621
The Dutch RoboSoccer Team
627
CMU Hammerheads 2001 Team Description
631
CoPSTeam Description
635
The Milan Robocup Team
639
Fusion
643
GMDRobots
648
ISocRob 2001 Team Description
653
MINHO Robot Football Team for 2001
657
Osaka University Trackies 2001
661
RoboCup Team Description
665
SPQR Wheeled Team
669
Team Description Eigen
673
The Ulm Sparrows 2001
677
Kyushu United Team in the Four Legged Robot League
681
Osaka Legged Robot Team
685
Cerberus 2001 Team Description
689
Fast Legged Robot Walking Robust Localization and Team Behaviors
693
Essex Rovers 2001 Team Description
697
French LRP Teams Description
701
GermanTeam 2001
705
McGill Reddogs
709
RoboMutts++
713
SPQR Legged Team
717
UW Huskies01
721
Team Sweden
725
The Team Description of ARAIBO
730
The University of Pennsylvania RoboCup Legged Soccer Team
734
Wright Eagle 2001 Sony Legged Robot Team
739
A Design of Agents for the Disaster Simulator on RoboCupRescue
743
An Approach to Multiagent Communication Used in RobocupRescue
747
A Short Note
751
Robocup Rescue Simulation Team 2001
755
Author Index
758
Copyright

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