This paper describes research investigating the evolution of coordination strategies in robot soccer teams. Each player (viewed as an agent) is provided with a common set of skills and is assigned to perform over a delimited area inside a soccer field. The idea is to optimize the whole team behavior by means of a spatial coadaptation process in which new players are selected in such a way to co...

interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of...

Modern model-driven engineering and Agent-Oriented Software Engineering (AOSE) methods are rarely utilized in developing robotic software. In this paper, we show how a Model-Driven AOSE methodology can be used for specifying the behavior of multi-robot teams. Specifically, the Agent Systems Engineering Methodology (ASEME) was used for developing the software that realizes the behavior of a phys...

We focus on two critical features in big size robot soccer. First, efficient training is one of the important issues for RoboCup teams to adapt their robots on site. Real robot’s training takes time and may damage the hardware while simulated one may miss the important factors to be improved. Second, to predict behavior of opponent robots is necessary for big size robots because they cannot mov...

The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work presents a real-time vision-based approach to the detection and tracking of robots of known appearance, based on the images captured by a stationary robot. A Histo...

We present NaOISIS, a three-dimensional behavioural simulator for the NAO humanoid robot, aimed at designing and testing physically plausible strategic behaviours for multi-agent soccer teams. NaOISIS brings together features from both physical three-dimensional simulators that model robot dynamics and interactions, and two-dimensional environments that are used to design sophisticated team coo...

We describe here the project of the humanoid challenge that is part of the RoboCup robot soccer competitions. We focus on how the relevant research issues of humanoid robotics –for example biped walking and human-like sensors and actuators– can be addressed and we investigate how the teams proceed to solve the given tasks. Thus, new technologies like artificial muscles and artificial skin might...

This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. Ope...

rhis work presents a realistic simulator called Reality sim for humanoid soccer robots especially in simulation of computer vision. As virtual training, testing and evaluating environment, simulation platforms have become one significant component in Soccer Robot projects. Nevertheless, the simulated environment in a simulation platform usually has a big gap with the realistic world. In order t...

This project evolved from the desire to create a robot which could be used in the international Robosoccer Competition. The goal is to build a team of robots for playing soccer on a specialized playing field. We have built a platform and the necessary hardware for communication and control. Since vision forms the primary sensor, we have written the necessary software to serve for ball detection...