Ebook: RoboCup 2004: Robot Soccer World Cup VIII
- Tags: Artificial Intelligence (incl. Robotics), Computer Communication Networks, Software Engineering, User Interfaces and Human Computer Interaction, Image Processing and Computer Vision, Control Robotics Mechatronics
- Series: Lecture Notes in Computer Science 3276
- Year: 2005
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
ThesearetheproceedingsoftheRoboCup2004Symposium,heldattheInstituto Superior T´ ecnico, in Lisbon, Portugal in conjunction with the RoboCup c- petition. The papers presented here document the many innovations in robotics that result from RoboCup. A problem in any branch of science or engineering is how to devise tests that can provide objective comparisons between alt- native methods. In recent years, competitive engineering challenges have been established to motivate researchers to tackle di?cult problems while providing a framework for the comparison of results. RoboCup was one of the ?rst such competitions and has been a model for the organization of challenges foll- ing sound scienti?c principles. In addition to the competition, the associated symposium provides a forum for researchers to present refereed papers. But, for RoboCup, the symposium has the greater goal of encouraging the exchange of ideas between teams so that the competition, as a whole, progresses from year to year and strengthens its contribution to robotics. One hundred and eighteen papers were submitted to the Symposium. Each paper was reviewed by at least two international referees; 30 papers were - cepted for presentation at the Symposium as full papers and a further 38 were accepted for poster presentation. The quality of the Symposium could not be maintained without the support of the authors and the generous assistance of the referees.
This book constitutes the eight official archival publication devoted to RoboCup. It documents the achivements presented at the RoboCup 2004 Symposium, held in Lisbon, Portugal in June/July 2004 in conjunction with the RoboCup Competition.
The 36 revised full papers and 26 revised short papers presented together with 2 award winning papers and an introductory overview went through two rounds of reviewing and post-symposium improvements and were selected from 118 paper submissions.
The book is a valuable source of reference and inspiration for R & D professionals active or interested in robotics, distributed artificial intelligence, and it is mandatory reading for the rapidly growing RoboCup community.
This book constitutes the eight official archival publication devoted to RoboCup. It documents the achivements presented at the RoboCup 2004 Symposium, held in Lisbon, Portugal in June/July 2004 in conjunction with the RoboCup Competition.
The 36 revised full papers and 26 revised short papers presented together with 2 award winning papers and an introductory overview went through two rounds of reviewing and post-symposium improvements and were selected from 118 paper submissions.
The book is a valuable source of reference and inspiration for R & D professionals active or interested in robotics, distributed artificial intelligence, and it is mandatory reading for the rapidly growing RoboCup community.
Content:
Front Matter....Pages -
RoboCup 2004 Overview....Pages 1-17
Map-Based Multiple Model Tracking of a Moving Object....Pages 18-33
UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League....Pages 34-45
CommLang: Communication for Coachable Agents....Pages 46-59
Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots....Pages 60-71
A Constructive Feature Detection Approach for Robotic Vision....Pages 72-83
Illumination Insensitive Robot Self-Localization Using Panoramic Eigenspaces....Pages 84-96
A New Omnidirectional Vision Sensor for Monte-Carlo Localization....Pages 97-109
Fuzzy Self-Localization Using Natural Features in the Four-Legged League....Pages 110-121
A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields....Pages 122-133
An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation....Pages 134-149
Sensor-Actuator-Comparison as a Basis for Collision Detection for a Quadruped Robot....Pages 150-159
Learning to Drive and Simulate Autonomous Mobile Robots....Pages 160-171
RoboCupJunior — Four Years Later....Pages 172-183
Evolution of Computer Vision Subsystems in Robot Navigation and Image Classification Tasks....Pages 184-195
Towards Illumination Invariance in the Legged League....Pages 196-208
Using Layered Color Precision for a Self-Calibrating Vision System....Pages 209-220
Getting the Most from Your Color Camera in a Color-Coded World....Pages 221-235
Combining Exploration and Ad-Hoc Networking in RoboCup Rescue....Pages 236-246
Robust Multi-robot Object Localization Using Fuzzy Logic....Pages 247-261
Visual Robot Detection in RoboCup Using Neural Networks....Pages 262-273
Extensions to Object Recognition in the Four-Legged League....Pages 274-285
Predicting Opponent Actions by Observation....Pages 286-296
A Model-Based Approach to Robot Joint Control....Pages 297-309
Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception....Pages 310-322
Optic Flow Based Skill Learning for a Humanoid to Trap, Approach to, and Pass a Ball....Pages 323-334
Learning to Kick the Ball Using Back to Reality....Pages 335-346
Cerebellar Augmented Joint Control for a Humanoid Robot....Pages 347-357
Dynamically Stable Walking and Kicking Gait Planning for Humanoid Soccer Robots....Pages 358-369
An Algorithm That Recognizes and Reproduces Distinct Types of Humanoid Motion Based on Periodically-Constrained Nonlinear PCA....Pages 370-380
Three-Dimensional Smooth Trajectory Planning Using Realistic Simulation....Pages 381-393
Plug and Play: Fast Automatic Geometry and Color Calibration for Cameras Tracking Robots....Pages 394-401
Real-Time Adaptive Colour Segmentation for the RoboCup Middle Size League....Pages 402-409
Visual Tracking and Localization of a Small Domestic Robot....Pages 410-417
A Vision Based System for Goal-Directed Obstacle Avoidance....Pages 418-425
Object Tracking Using Multiple Neuromorphic Vision Sensors....Pages 426-433
Interpolation Methods for Global Vision Systems....Pages 434-442
A Method of Pseudo Stereo Vision from Images of Cameras Shutter Timing Adjusted....Pages 443-450
Automatic Distance Measurement and Material Characterization with Infrared Sensors....Pages 451-458
A Novel Search Strategy for Autonomous Search and Rescue Robots....Pages 459-466
World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search and Rescue Robots....Pages 467-473
Approaching Urban Disaster Reality: The ResQ Firesimulator....Pages 474-482
Stochastic Map Merging in Rescue Environments....Pages 483-490
Orpheus – Universal Reconnaissance Teleoperated Robot....Pages 491-498
Navigation Controllability of a Mobile Robot Population....Pages 499-507
Sharing Belief in Teams of Heterogeneous Robots....Pages 508-515
Formulation and Implementation of Relational Behaviours for Multi-robot Cooperative Systems....Pages 516-523
Cooperative Planning and Plan Execution in Partially Observable Dynamic Domains....Pages 524-531
Exploring Auction Mechanisms for Role Assignment in Teams of Autonomous Robots....Pages 532-539
A Descriptive Language for Flexible and Robust Object Recognition....Pages 540-547
Modular Learning System and Scheduling for Behavior Acquisition in Multi-agent Environment....Pages 548-555
Realtime Object Recognition Using Decision Tree Learning....Pages 556-563
Optimizing Precision of Self-Localization in the Simulated Robotics Soccer....Pages 564-573
Path Optimisation Considering Dynamic Constraints....Pages 574-585
Analysis by Synthesis, a Novel Method in Mobile Robot Self-Localization....Pages 586-593
Robots from Nowhere....Pages 594-601
Design and Implementation of Live Commentary System in Soccer Simulation Environment....Pages 602-610
Towards a League-Independent Qualitative Soccer Theory for RoboCup....Pages 611-618
Motion Detection and Tracking for an AIBO Robot Using Camera Motion Compensation and Kalman Filtering....Pages 619-627
The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot....Pages 628-635
The UT Austin Villa 2003 Champion Simulator Coach: A Machine Learning Approach....Pages 636-644
ITAS and the Reverse RoboCup Challenge....Pages 645-652
SPQR-RDK: A Modular Framework for Programming Mobile Robots....Pages 653-660
Mobile Autonomous Robots Play Soccer – An Intercultural Comparison of Different Approaches Due to Different Prerequisites....Pages 661-668
From Games to Applications: Component Reuse in Rescue Robots....Pages 669-676
Back Matter....Pages -
This book constitutes the eight official archival publication devoted to RoboCup. It documents the achivements presented at the RoboCup 2004 Symposium, held in Lisbon, Portugal in June/July 2004 in conjunction with the RoboCup Competition.
The 36 revised full papers and 26 revised short papers presented together with 2 award winning papers and an introductory overview went through two rounds of reviewing and post-symposium improvements and were selected from 118 paper submissions.
The book is a valuable source of reference and inspiration for R & D professionals active or interested in robotics, distributed artificial intelligence, and it is mandatory reading for the rapidly growing RoboCup community.
Content:
Front Matter....Pages -
RoboCup 2004 Overview....Pages 1-17
Map-Based Multiple Model Tracking of a Moving Object....Pages 18-33
UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League....Pages 34-45
CommLang: Communication for Coachable Agents....Pages 46-59
Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots....Pages 60-71
A Constructive Feature Detection Approach for Robotic Vision....Pages 72-83
Illumination Insensitive Robot Self-Localization Using Panoramic Eigenspaces....Pages 84-96
A New Omnidirectional Vision Sensor for Monte-Carlo Localization....Pages 97-109
Fuzzy Self-Localization Using Natural Features in the Four-Legged League....Pages 110-121
A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields....Pages 122-133
An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation....Pages 134-149
Sensor-Actuator-Comparison as a Basis for Collision Detection for a Quadruped Robot....Pages 150-159
Learning to Drive and Simulate Autonomous Mobile Robots....Pages 160-171
RoboCupJunior — Four Years Later....Pages 172-183
Evolution of Computer Vision Subsystems in Robot Navigation and Image Classification Tasks....Pages 184-195
Towards Illumination Invariance in the Legged League....Pages 196-208
Using Layered Color Precision for a Self-Calibrating Vision System....Pages 209-220
Getting the Most from Your Color Camera in a Color-Coded World....Pages 221-235
Combining Exploration and Ad-Hoc Networking in RoboCup Rescue....Pages 236-246
Robust Multi-robot Object Localization Using Fuzzy Logic....Pages 247-261
Visual Robot Detection in RoboCup Using Neural Networks....Pages 262-273
Extensions to Object Recognition in the Four-Legged League....Pages 274-285
Predicting Opponent Actions by Observation....Pages 286-296
A Model-Based Approach to Robot Joint Control....Pages 297-309
Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception....Pages 310-322
Optic Flow Based Skill Learning for a Humanoid to Trap, Approach to, and Pass a Ball....Pages 323-334
Learning to Kick the Ball Using Back to Reality....Pages 335-346
Cerebellar Augmented Joint Control for a Humanoid Robot....Pages 347-357
Dynamically Stable Walking and Kicking Gait Planning for Humanoid Soccer Robots....Pages 358-369
An Algorithm That Recognizes and Reproduces Distinct Types of Humanoid Motion Based on Periodically-Constrained Nonlinear PCA....Pages 370-380
Three-Dimensional Smooth Trajectory Planning Using Realistic Simulation....Pages 381-393
Plug and Play: Fast Automatic Geometry and Color Calibration for Cameras Tracking Robots....Pages 394-401
Real-Time Adaptive Colour Segmentation for the RoboCup Middle Size League....Pages 402-409
Visual Tracking and Localization of a Small Domestic Robot....Pages 410-417
A Vision Based System for Goal-Directed Obstacle Avoidance....Pages 418-425
Object Tracking Using Multiple Neuromorphic Vision Sensors....Pages 426-433
Interpolation Methods for Global Vision Systems....Pages 434-442
A Method of Pseudo Stereo Vision from Images of Cameras Shutter Timing Adjusted....Pages 443-450
Automatic Distance Measurement and Material Characterization with Infrared Sensors....Pages 451-458
A Novel Search Strategy for Autonomous Search and Rescue Robots....Pages 459-466
World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search and Rescue Robots....Pages 467-473
Approaching Urban Disaster Reality: The ResQ Firesimulator....Pages 474-482
Stochastic Map Merging in Rescue Environments....Pages 483-490
Orpheus – Universal Reconnaissance Teleoperated Robot....Pages 491-498
Navigation Controllability of a Mobile Robot Population....Pages 499-507
Sharing Belief in Teams of Heterogeneous Robots....Pages 508-515
Formulation and Implementation of Relational Behaviours for Multi-robot Cooperative Systems....Pages 516-523
Cooperative Planning and Plan Execution in Partially Observable Dynamic Domains....Pages 524-531
Exploring Auction Mechanisms for Role Assignment in Teams of Autonomous Robots....Pages 532-539
A Descriptive Language for Flexible and Robust Object Recognition....Pages 540-547
Modular Learning System and Scheduling for Behavior Acquisition in Multi-agent Environment....Pages 548-555
Realtime Object Recognition Using Decision Tree Learning....Pages 556-563
Optimizing Precision of Self-Localization in the Simulated Robotics Soccer....Pages 564-573
Path Optimisation Considering Dynamic Constraints....Pages 574-585
Analysis by Synthesis, a Novel Method in Mobile Robot Self-Localization....Pages 586-593
Robots from Nowhere....Pages 594-601
Design and Implementation of Live Commentary System in Soccer Simulation Environment....Pages 602-610
Towards a League-Independent Qualitative Soccer Theory for RoboCup....Pages 611-618
Motion Detection and Tracking for an AIBO Robot Using Camera Motion Compensation and Kalman Filtering....Pages 619-627
The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot....Pages 628-635
The UT Austin Villa 2003 Champion Simulator Coach: A Machine Learning Approach....Pages 636-644
ITAS and the Reverse RoboCup Challenge....Pages 645-652
SPQR-RDK: A Modular Framework for Programming Mobile Robots....Pages 653-660
Mobile Autonomous Robots Play Soccer – An Intercultural Comparison of Different Approaches Due to Different Prerequisites....Pages 661-668
From Games to Applications: Component Reuse in Rescue Robots....Pages 669-676
Back Matter....Pages -
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