In this paper we present the robot programming and planning language Readylog, a Golog dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of Readylog, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, an...

Middle-size robot soccer is one of the divisions that competed in national events such as National Indonesia Robotics Competition and international competitions middle size league (MSL). One main components robots kicker system. The system expected to be high torque, robust, safe. In this work, a voltage designed evaluated substitute ROSTU's previous This solenoid-based works at 380V uses elect...

Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. However, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. Such...

This paper presents the team coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup middle-size league (MSL). The coordination model extends and adapts previous work in the Soccer Simulation League to the MSL environment. The approach is based on flexible positionings and priority-based dynamic role/positioning assignment. In addition, coordinated pr...

In many autonomous mobile applications, robots must be capable of analyzing motion of moving objects in their environment. Duringmovement of robot the quality of images is affected by quakes of camera which cause high errors in image processing outputs. In thispaper, we propose a novel method to effectively overcome this problem using Neural Networks and Kalman Filtering theory. Thistechnique u...

The recognition of colored objects is very important for robot vision in RoboCup Middle Size League competition. This paper describes an efficient hybrid vision system developed for the robotic soccer team of the University of Aveiro, CAMBADA (Cooperative Autonomous Mobile roBots with Advanced Distributed Architecture). The hybrid vision system integrates an omnidirectional and a perspective ca...

RoboCup is an international initiative to foster interdisciplinary research and education in robotics, artificial intelligence, computer science, and engineering. We focus on the challenges of multi-robot systems, where robots cooperate with each other and when needed with humans to achieve goals in complex and uncertain environments, such as robot soccer, as RoboCupSoccer, robot rescue, as Rob...

We propose a new method of self-localization using two landmarks and dead reckoning for a soccer robot equipped with an omnidirectional camera as a local vision sensor. This method requires low computational cost. Thanks to rapid process, the system can afford to run multiple localization process in parallel resulting robust and accurate localization. An experimental result in the field of Robo...

This work presents methods for tracking objects from noisy and unreliable data taken by a team of robots. We develop a multi-object tracking algorithm based on Kalman filtering and a single-object tracking method involving a combination of Kalman filtering and Markov localization for outlier detection. We apply these methods in the context of robot soccer for robots participating in the middle-...

A basic requirement for all mobile robots is a precise, accurate and fast perception of the environment to allow intelligent behavior through interaction with its surrounding. This paper introduces a new method for a reliable, fast and efficient purely omni-directional vision based mobile robot navigation for a closed world environment. The proposed method enables a robot that is driving at a h...