In this article we describe a self-localization method for soccer robots that solves the “Where am I”problem by visually perceiving and understanding the structure of the field lines on a soccer playing field. The method accrued from our participation in the RoboCup Middle Size league where fully autonomous robots play soccer on a 8×12m field. The method was successfully applied by our FU-Fight...

This paper presents a hybrid method for learning a dynamic strategy for a robot soccer team. In this method, an imitation learning scheme based on observed robot soccer games is used as a seed for an experience-guided learning scheme based on reinforcement learning. A lack in the application of classic reinforcement learning to the robot soccer problem is the high number of states to be analyze...

The paper discusses a multi-agent system for robot-soccer. The system consists of a supervisory controller, and controllers for attack, defense and goalie robots. Real time vector field based path planning, Petri-net theory and Q-learning technique are used in the design. Robot-soccer system has a dynamic environment. A soccer robot has to take an appropriate decision based on environment situa...

Robot soccer has evolved into a very dynamic and competitive field within the last few years. Many different robot soccer leagues now exist, the league most strongly dedicated to entertainment and edutainment is currently FIRA MiroSot. It has now reached 11 vs. 11 robots sized 7.5 x 7.5 x 7.5 cm on a 440 x 280 cm field and is therefore the first robot soccer league to physically play 11 vs. 11 ...

The main goal of the RAC project is to develop a robotic soccer team for the RoboCup small-size league competitions. This paper is focused on two main issues: omnidirectional drive control design and modelling, and robot design and construction. The robot hardware implementation and design options are presented. Based on the robot kinematic model, a motion controller is designed using trajector...

The coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup Middle-Size League (MSL), are presented in this paper. The approach, which relies on information sharing and integration within the team, is based on formations, flexible positionings and dynamic role and positioning assignment. Role assignment is carried out locally on each robot to increase...

The robots used in MiroSot (Micro-Robot World Cup Soccer Tournament) are small in size (7.5cm 7.5cm 7.5cm), fully/semi autonomous and without any human operators. MiroSot involves multiple robots that need to collaborate in an adversarial environment to achieve speciic objectives. They have dynamic environments as other robots intentionally aaect the environment in unpredictable ways. The key a...

Robot soccer competition provides an excellent opportunity for robotics research. In particular, robot players in a soccer game must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creature...

In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...

In this paper, we report on the current developments of our Mirosot Robot Soccer team, the “Robocoasters”, in preparation for the FIRA Robot World Cup 2002 in Korea. We describe a number of unique enhancements to both the vision systems and the control system. Vision enhancements include a unique shape recognition system, expanded from recognition of three shapes to five shapes for the middle l...