In this paper, we present locomotion control strategies for a novel multi-legged spherical hopping robot named ”Robotic All-Terrain Surveyor” (RATS). The conceptual robot has a spherical body roughly the size of a soccer ball, with 12 legs equally distributed over its surface. While the 12legged spherical version of the robot is still on its design phase, we have experimented with a planar prot...

Robot soccer is played in a dynamic environment. All robots in a team should select their task dynamically and adaptively in a cooperative manner. This paper proposes a framework for task and role selection strategy for distributed multi-robot coordination and its application to robot soccer. To deal with such a dynamic environment, context-based cooperation method is provided. The robot team h...

Robot soccer game is one of the significant and interesting areas among most of the autonomous robotic researches. Following the humanoid soccer robot basic movement and strategy actions, the robot is operated in a dynamic and unpredictable contest environment and must recognize the position of itself in the field all the time. Therefore, the localization system of the soccer robot becomes the ...

A number of international competitions for mobile robots have been created and conducted over the last 20 years. This article discusses three of the arguably most prominent event series. We highlight scope, rules, robot designs and robot evolution over the years for the Micromouse Contest, AAAI Mobile Robot Competition and RoboCup Robot Soccer and discuss their contributions to mobile robot res...

In multi-robot settings, activity recognition allows a robot to respond intelligently to the other robots in its environment. Conditional random fields are temporal models that are well suited for activity recognition because they can robustly incorporate rich, non-independent features computed from sensory data. In this work, we explore feature selection in conditional random fields for activi...

This paper presents a rapid traversability assessment approach based on an extended 2.5D grid-based representaion of the rough terrain. Stereo vision system is used to perceive the environment surrounding robot. Conventional 2D, 3D and other 2.5D grid maps determine the traversability indices of the grids directly from the sensor feedback, while our approach attempts to address the indices of t...

The paper mainly describes the implementation of our middle-size league robot team “NuBot” for RoboCup 2007. The description consists of both the hardware design of the robot vehicle and the fundamental control & AI software running on its onboard computer. The current research focuses on robust robot vision, perfect world model building and multi-robot cooperation.

In this paper, we propose rapid control prototyping (RCP) for a robot soccer using the SIMTool that has been developed in Seoul National University, Korea for the control aided control system design (CACSD). The proposed RCP enables us to carry out the rapid design and the verification of controls for two-wheeled mobile robots (TWMRs), players in the robot soccer, without writing C codes direct...

Popularization as it attracts so many researchers and robot fans. The SimuroSot platform plays a vitally important (core?) role in the game. However, some flaws which cut out of the fun of the game have revealed as time goes on. This paper summarizes part of the flaws and gives some suggestions of how to improve the platform.

Arvand is the name of robots specially designed and constructed by sharif CE team for playing soccer according to RoboCup rules and regulations for the middle size robots. Two diierent types of robots are made, players and the goal keeper. A player robot consists of three main parts: mechanics (motion mechanism and kicker), hardware (image acquisition, processing unit and control unit) and soft...