On the construction of a RoboCup small size league team
Autor(a) principal: | |
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Data de Publicação: | 2011 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Título da fonte: | Biblioteca Digital de Teses e Dissertações da FEI |
Texto Completo: | https://repositorio.fei.edu.br/handle/FEI/1003 https://doi.org/10.1007/s13173-011-0028-4 |
Resumo: | The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. © 2011 The Brazilian Computer Society. |
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"Este é um artigo publicado em acesso aberto sob uma licença Creative Commons (CC BY-NC 4.0). Fonte: <https://journal-bcs.springeropen.com/submission-guidelines/copyright>. Acesso em: 31/10/2019info:eu-repo/semantics/openAccessGurzoni Jr. J.A.Martins M.F.Flavio TonidandelReinaldo Bianchihttps://orcid.org/0000-0001-9097-827Xhttps://orcid.org/0000-0003-0345-668X2019-08-17T20:00:29Z2019-08-17T20:00:29Z2011-01-05GURZONI Jr., J. A.; MARTINS, M. F.; TONIDANDEL, Flavio; BIANCHI, R. A. C. On the construction of a RoboCup small size league team. Journal of the Brazilian Computer Society (Impresso), v. 17, n.1, p. 69-82, 2011.0104-6500https://repositorio.fei.edu.br/handle/FEI/100310.1007/s13173-011-0028-4https://doi.org/10.1007/s13173-011-0028-4The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. © 2011 The Brazilian Computer Society.1716982The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness.Journal of the Brazilian Computer SocietyOn the construction of a RoboCup small size league teaminfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleComputer visionNeural networksOmnidirectional controlRobotic soccerRRT path planningreponame:Biblioteca Digital de Teses e Dissertações da FEIinstname:Centro Universitário da Fundação Educacional Inaciana (FEI)instacron:FEI2-s2.0-81855195130Algorithm implementationComputer vision systemMulti-disciplinary researchOmnidirectional controlPath-planning algorithmRapidly-exploring random treesRoboCup Small Size LeagueRobotic soccerhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=81855195130&origin=inward2022-06-01ORIGINALRI_1003.pdfRI_1003.pdfapplication/pdf1755101https://repositorio.fei.edu.br/bitstream/FEI/1003/1/RI_1003.pdf84c4332497436b120b6b15019626465bMD51TEXTRI_1003.pdf.txtRI_1003.pdf.txtExtracted texttext/plain59119https://repositorio.fei.edu.br/bitstream/FEI/1003/2/RI_1003.pdf.txt220733c037ca4a89764b09740238a166MD52THUMBNAILRI_1003.pdf.jpgRI_1003.pdf.jpgGenerated Thumbnailimage/jpeg1689https://repositorio.fei.edu.br/bitstream/FEI/1003/3/RI_1003.pdf.jpg5af26d583d76a2714bd4cc60ec0d572aMD53FEI/10032022-06-02 20:07:19.418Biblioteca Digital de Teses e Dissertaçõeshttp://sofia.fei.edu.br/pergamum/biblioteca/PRI |
dc.title.none.fl_str_mv |
On the construction of a RoboCup small size league team |
title |
On the construction of a RoboCup small size league team |
spellingShingle |
On the construction of a RoboCup small size league team Gurzoni Jr. J.A. Computer vision Neural networks Omnidirectional control Robotic soccer RRT path planning |
title_short |
On the construction of a RoboCup small size league team |
title_full |
On the construction of a RoboCup small size league team |
title_fullStr |
On the construction of a RoboCup small size league team |
title_full_unstemmed |
On the construction of a RoboCup small size league team |
title_sort |
On the construction of a RoboCup small size league team |
author |
Gurzoni Jr. J.A. |
author_facet |
Gurzoni Jr. J.A. Martins M.F. Flavio Tonidandel Reinaldo Bianchi |
author_role |
author |
author2 |
Martins M.F. Flavio Tonidandel Reinaldo Bianchi |
author2_role |
author author author |
dc.contributor.authorOrcid.none.fl_str_mv |
https://orcid.org/0000-0001-9097-827X https://orcid.org/0000-0003-0345-668X |
dc.contributor.author.fl_str_mv |
Gurzoni Jr. J.A. Martins M.F. Flavio Tonidandel Reinaldo Bianchi |
dc.subject.eng.fl_str_mv |
Computer vision Neural networks Omnidirectional control Robotic soccer RRT path planning |
topic |
Computer vision Neural networks Omnidirectional control Robotic soccer RRT path planning |
description |
The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. © 2011 The Brazilian Computer Society. |
publishDate |
2011 |
dc.date.issued.fl_str_mv |
2011-01-05 |
dc.date.accessioned.fl_str_mv |
2019-08-17T20:00:29Z |
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2019-08-17T20:00:29Z |
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info:eu-repo/semantics/publishedVersion |
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info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
GURZONI Jr., J. A.; MARTINS, M. F.; TONIDANDEL, Flavio; BIANCHI, R. A. C. On the construction of a RoboCup small size league team. Journal of the Brazilian Computer Society (Impresso), v. 17, n.1, p. 69-82, 2011. |
dc.identifier.uri.fl_str_mv |
https://repositorio.fei.edu.br/handle/FEI/1003 |
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0104-6500 |
dc.identifier.doi.none.fl_str_mv |
10.1007/s13173-011-0028-4 |
dc.identifier.url.none.fl_str_mv |
https://doi.org/10.1007/s13173-011-0028-4 |
identifier_str_mv |
GURZONI Jr., J. A.; MARTINS, M. F.; TONIDANDEL, Flavio; BIANCHI, R. A. C. On the construction of a RoboCup small size league team. Journal of the Brazilian Computer Society (Impresso), v. 17, n.1, p. 69-82, 2011. 0104-6500 10.1007/s13173-011-0028-4 |
url |
https://repositorio.fei.edu.br/handle/FEI/1003 https://doi.org/10.1007/s13173-011-0028-4 |
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Journal of the Brazilian Computer Society |
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openAccess |
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