Ebook: RoboCup-99: Robot Soccer World Cup III

This book is the third official archival publication devoted to RoboCup and documents the achievements presented at the Third Robot World Cup Soccer Games and Conferences, Robo-Cup-99, held in Stockholm, Sweden in July/August 1999. The book presents the following parts
- Introductory overview and survey
- Research papers of the champion teams and scientific award winners
- Technical papers presented at the RoboCup-99 Workshop
- Team description of a large number of participating teams.
This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source or reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.

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This book is the third official archival publication devoted to RoboCup and documents the achievements presented at the Third Robot World Cup Soccer Games and Conferences, Robo-Cup-99, held in Stockholm, Sweden in July/August 1999. The book presents the following parts
- Introductory overview and survey
- Research papers of the champion teams and scientific award winners
- Technical papers presented at the RoboCup-99 Workshop
- Team description of a large number of participating teams.
This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source or reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.

---

This book is the third official archival publication devoted to RoboCup and documents the achievements presented at the Third Robot World Cup Soccer Games and Conferences, Robo-Cup-99, held in Stockholm, Sweden in July/August 1999. The book presents the following parts
- Introductory overview and survey
- Research papers of the champion teams and scientific award winners
- Technical papers presented at the RoboCup-99 Workshop
- Team description of a large number of participating teams.
This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source or reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.
Content:
Front Matter....Pages I-XIV
Overview of RoboCup-99....Pages 1-34
The CMUnited-99 Champion Simulator Team....Pages 35-48
Big Red: The Cornell Small League Robot Soccer Team....Pages 49-60
Middle Sized Soccer Robots: ARVAND....Pages 61-73
Vision Based Behavior Strategy to Play Soccer with Legged Robots....Pages 74-84
Automated Assistants to Aid Humans in Understanding Team Behaviors....Pages 85-102
LogMonitor: From Player’s Action Analysis to Collaboration Analysis and Advice on Formation....Pages 103-113
A Statistical Perspective on the RoboCup Simulator League: Progress and Prospects....Pages 114-127
Real-time Color Detection System using Custom LSI for High-Speed Machine Vision....Pages 128-135
A Segmentation System for Soccer Robot Based on Neural Networks....Pages 136-147
Practical Camera and Colour Calibration for Large Rooms....Pages 148-161
Path Tracking Control of Non-holonomic Car-Like Robot with Reinforcement Learning....Pages 162-173
Fast Image Segmentation, Object Recognition and Localization in a RoboCup Scenario....Pages 174-185
Using Hierarchical Dynamical Systems to Control Reactive Behavior....Pages 186-195
Heterogeneity and On-Board Control in the Small Robots League....Pages 196-209
The Body, the Mind or the Eye, first?....Pages 210-221
Motion Control in Dynamic Multi-Robot Environments....Pages 222-230
Behavior Engineering with “Dual Dynamics” Models and Design Tools....Pages 231-242
Techniques for Obtaining Robust, Real-Time, Colour-Based Vision for Robotics....Pages 243-253
Design Issues for a Robocup Goalkeeper....Pages 254-262
Layered Reactive Planning in the IALP Team....Pages 263-273
From a Concurrent Architecture to a Concurrent Autonomous Agents Architecture....Pages 274-285
Tracking and Identifying in Real Time the Robots of a F-180 Team....Pages 286-291
VQQL. Applying Vector Quantization to Reinforcement Learning....Pages 292-303
Fast Accurate and Robust Self-Localization in the RoboCup Environment....Pages 304-317
Self-Localization in the RoboCup Environment....Pages 318-330
Virtual RoboCup: Real-Time 3D Visualization of 2D Soccer Games....Pages 331-344
The RoboCup-98 Teamwork Evaluation Session: A Preliminary Report....Pages 345-356
Towards a Distributed Multi-agent System for a Robotic Soccer Team....Pages 357-365
A Multi-threaded Approach to Simulated Soccer Agents for the RoboCup Competition....Pages 366-377
A Functional Architecture for a Team of Fully Autonomous Cooperative Robots....Pages 378-389
Extension of the Behaviour Oriented Commands (BOC) Model for the Design of a Team of Soccer Players Robots....Pages 390-399
Modular Simulator: A Draft of New Simulator for RoboCup....Pages 400-410
Programming Real Time Distributed Multiple Robotic Systems....Pages 412-423
The Attempto RoboCup Robot Team....Pages 424-433
Rogi Team Real: Dynamical Physical Agents....Pages 434-438
Learning to Behave by Environment Reinforcement....Pages 439-450
End User Specification of RoboCup Teams....Pages 450-459
Purposeful Behavior in Robot Soccer Team Play....Pages 460-470
Autonomous Information Indication System....Pages 471-480
Spatial Agents Implemented in a Logical Expressible Language....Pages 481-494
Layered Learning and Flexible Teamwork in RoboCup Simulation Agents....Pages 495-508
A Method for Localization by Integration of Imprecise Vision and a Field Model....Pages 509-518
Multiple Reward Criterion for Cooperative Behavior Acquisition in a Multiagent Environment....Pages 519-530
BDI Design Principles and Cooperative Implementation in RoboCup....Pages 531-541
AT Humboldt in RoboCup-99 (Team description)....Pages 542-545
Cyberoos’99: Tactical Agents in the RoboCup Simulation League....Pages 546-549
11Monkeys Description....Pages 550-553
Team Erika....Pages 554-557
Essex Wizards’99 Team Description....Pages 558-562
FCFoo99....Pages 563-566
Footux Team Description A Hybrid Recursive Based Agent Architecture....Pages 567-571
Gongeroos’99....Pages 572-575
Headless Chickens III....Pages 576-579
IALP....Pages 580-583
Kappa-II....Pages 584-587
Karlsruhe Brainstormers - Design Principles....Pages 588-591
Kasugabito III....Pages 592-595
RoboCup-99 Simulation League: Team KU-Sakura2....Pages 596-599
The magmaFreiburg Soccer Team....Pages 600-603
Mainz Rolling Brains....Pages 604-607
NITStones-99....Pages 608-610
Oulu 99....Pages 611-613
Pardis....Pages 614-617
PaSo-Team’99....Pages 618-622
PSI Team....Pages 623-627
RoboLog Koblenz....Pages 628-631
Rational Agents by Reviewing Techniques....Pages 632-637
The Ulm Sparrows 99....Pages 638-641
UBU Team....Pages 642-645
YowAI....Pages 646-648
Zeng99: RoboCup simulation team with Hierarchical Fuzzy Intelligent Control and Cooperative Development....Pages 649-652
All Botz....Pages 653-656
Big Red: The Cornell Small League Robot Soccer Team....Pages 657-660
The CMUnited-99 Small-Size Robot Team....Pages 661-662
5dpo Team Description....Pages 663-666
FU-Fighters Team Description....Pages 667-670
Linked99....Pages 671-674
OWARI-BITO....Pages 675-678
Rogi 2 Team Description....Pages 679-682
Temasek Polytechnic RoboCup Team-TPOTs....Pages 683-686
The VUB AI-lab RoboCup’99 Small League Team....Pages 687-690
Agilo RoboCuppers: RoboCup Team Description....Pages 691-694
ART99 - Azzurra Robot Team....Pages 695-698
CoPS-Team Description....Pages 699-702
CS Freiburg’ 99....Pages 703-706
DREAMTEAM 99: Team Description Paper....Pages 707-710
Description of the GMD RoboCup-99 Team....Pages 711-714
ISocRob — Intelligent Society of Robots....Pages 715-718
KIRC: Kyutech Intelligent Robot Club....Pages 719-722
The Concept of Matto....Pages 723-726
The RoboCup-NAIST....Pages 727-730
Robot Football Team from Minho University....Pages 731-734
Real MagiCol 99: Team Description....Pages 735-740
RMIT Raiders....Pages 741-744
Design and Construction of a Soccer Player Robot ARVAND....Pages 745-749
The Team Description of Osaka University “Trackies-99”....Pages 750-753
5dpo-2000 Team Description....Pages 754-757
Team ARAIBO....Pages 758-761
BabyTigers-99: Osaka Legged Robot Team....Pages 762-765
CM-Trio-99....Pages 766-769
Humboldt Hereos in RoboCup-99 (Team description)....Pages 770-773
McGill RedDogs....Pages 774-783
Team Sweden....Pages 784-787
UNSW United....Pages 788-791
UPennalizers: The University of Pennsylvania RoboCup Legged Soccer Team....Pages 792-797
Back Matter....Pages 799-802

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This book is the third official archival publication devoted to RoboCup and documents the achievements presented at the Third Robot World Cup Soccer Games and Conferences, Robo-Cup-99, held in Stockholm, Sweden in July/August 1999. The book presents the following parts
- Introductory overview and survey
- Research papers of the champion teams and scientific award winners
- Technical papers presented at the RoboCup-99 Workshop
- Team description of a large number of participating teams.
This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source or reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.
Content:
Front Matter....Pages I-XIV
Overview of RoboCup-99....Pages 1-34
The CMUnited-99 Champion Simulator Team....Pages 35-48
Big Red: The Cornell Small League Robot Soccer Team....Pages 49-60
Middle Sized Soccer Robots: ARVAND....Pages 61-73
Vision Based Behavior Strategy to Play Soccer with Legged Robots....Pages 74-84
Automated Assistants to Aid Humans in Understanding Team Behaviors....Pages 85-102
LogMonitor: From Player’s Action Analysis to Collaboration Analysis and Advice on Formation....Pages 103-113
A Statistical Perspective on the RoboCup Simulator League: Progress and Prospects....Pages 114-127
Real-time Color Detection System using Custom LSI for High-Speed Machine Vision....Pages 128-135
A Segmentation System for Soccer Robot Based on Neural Networks....Pages 136-147
Practical Camera and Colour Calibration for Large Rooms....Pages 148-161
Path Tracking Control of Non-holonomic Car-Like Robot with Reinforcement Learning....Pages 162-173
Fast Image Segmentation, Object Recognition and Localization in a RoboCup Scenario....Pages 174-185
Using Hierarchical Dynamical Systems to Control Reactive Behavior....Pages 186-195
Heterogeneity and On-Board Control in the Small Robots League....Pages 196-209
The Body, the Mind or the Eye, first?....Pages 210-221
Motion Control in Dynamic Multi-Robot Environments....Pages 222-230
Behavior Engineering with “Dual Dynamics” Models and Design Tools....Pages 231-242
Techniques for Obtaining Robust, Real-Time, Colour-Based Vision for Robotics....Pages 243-253
Design Issues for a Robocup Goalkeeper....Pages 254-262
Layered Reactive Planning in the IALP Team....Pages 263-273
From a Concurrent Architecture to a Concurrent Autonomous Agents Architecture....Pages 274-285
Tracking and Identifying in Real Time the Robots of a F-180 Team....Pages 286-291
VQQL. Applying Vector Quantization to Reinforcement Learning....Pages 292-303
Fast Accurate and Robust Self-Localization in the RoboCup Environment....Pages 304-317
Self-Localization in the RoboCup Environment....Pages 318-330
Virtual RoboCup: Real-Time 3D Visualization of 2D Soccer Games....Pages 331-344
The RoboCup-98 Teamwork Evaluation Session: A Preliminary Report....Pages 345-356
Towards a Distributed Multi-agent System for a Robotic Soccer Team....Pages 357-365
A Multi-threaded Approach to Simulated Soccer Agents for the RoboCup Competition....Pages 366-377
A Functional Architecture for a Team of Fully Autonomous Cooperative Robots....Pages 378-389
Extension of the Behaviour Oriented Commands (BOC) Model for the Design of a Team of Soccer Players Robots....Pages 390-399
Modular Simulator: A Draft of New Simulator for RoboCup....Pages 400-410
Programming Real Time Distributed Multiple Robotic Systems....Pages 412-423
The Attempto RoboCup Robot Team....Pages 424-433
Rogi Team Real: Dynamical Physical Agents....Pages 434-438
Learning to Behave by Environment Reinforcement....Pages 439-450
End User Specification of RoboCup Teams....Pages 450-459
Purposeful Behavior in Robot Soccer Team Play....Pages 460-470
Autonomous Information Indication System....Pages 471-480
Spatial Agents Implemented in a Logical Expressible Language....Pages 481-494
Layered Learning and Flexible Teamwork in RoboCup Simulation Agents....Pages 495-508
A Method for Localization by Integration of Imprecise Vision and a Field Model....Pages 509-518
Multiple Reward Criterion for Cooperative Behavior Acquisition in a Multiagent Environment....Pages 519-530
BDI Design Principles and Cooperative Implementation in RoboCup....Pages 531-541
AT Humboldt in RoboCup-99 (Team description)....Pages 542-545
Cyberoos’99: Tactical Agents in the RoboCup Simulation League....Pages 546-549
11Monkeys Description....Pages 550-553
Team Erika....Pages 554-557
Essex Wizards’99 Team Description....Pages 558-562
FCFoo99....Pages 563-566
Footux Team Description A Hybrid Recursive Based Agent Architecture....Pages 567-571
Gongeroos’99....Pages 572-575
Headless Chickens III....Pages 576-579
IALP....Pages 580-583
Kappa-II....Pages 584-587
Karlsruhe Brainstormers - Design Principles....Pages 588-591
Kasugabito III....Pages 592-595
RoboCup-99 Simulation League: Team KU-Sakura2....Pages 596-599
The magmaFreiburg Soccer Team....Pages 600-603
Mainz Rolling Brains....Pages 604-607
NITStones-99....Pages 608-610
Oulu 99....Pages 611-613
Pardis....Pages 614-617
PaSo-Team’99....Pages 618-622
PSI Team....Pages 623-627
RoboLog Koblenz....Pages 628-631
Rational Agents by Reviewing Techniques....Pages 632-637
The Ulm Sparrows 99....Pages 638-641
UBU Team....Pages 642-645
YowAI....Pages 646-648
Zeng99: RoboCup simulation team with Hierarchical Fuzzy Intelligent Control and Cooperative Development....Pages 649-652
All Botz....Pages 653-656
Big Red: The Cornell Small League Robot Soccer Team....Pages 657-660
The CMUnited-99 Small-Size Robot Team....Pages 661-662
5dpo Team Description....Pages 663-666
FU-Fighters Team Description....Pages 667-670
Linked99....Pages 671-674
OWARI-BITO....Pages 675-678
Rogi 2 Team Description....Pages 679-682
Temasek Polytechnic RoboCup Team-TPOTs....Pages 683-686
The VUB AI-lab RoboCup’99 Small League Team....Pages 687-690
Agilo RoboCuppers: RoboCup Team Description....Pages 691-694
ART99 - Azzurra Robot Team....Pages 695-698
CoPS-Team Description....Pages 699-702
CS Freiburg’ 99....Pages 703-706
DREAMTEAM 99: Team Description Paper....Pages 707-710
Description of the GMD RoboCup-99 Team....Pages 711-714
ISocRob — Intelligent Society of Robots....Pages 715-718
KIRC: Kyutech Intelligent Robot Club....Pages 719-722
The Concept of Matto....Pages 723-726
The RoboCup-NAIST....Pages 727-730
Robot Football Team from Minho University....Pages 731-734
Real MagiCol 99: Team Description....Pages 735-740
RMIT Raiders....Pages 741-744
Design and Construction of a Soccer Player Robot ARVAND....Pages 745-749
The Team Description of Osaka University “Trackies-99”....Pages 750-753
5dpo-2000 Team Description....Pages 754-757
Team ARAIBO....Pages 758-761
BabyTigers-99: Osaka Legged Robot Team....Pages 762-765
CM-Trio-99....Pages 766-769
Humboldt Hereos in RoboCup-99 (Team description)....Pages 770-773
McGill RedDogs....Pages 774-783
Team Sweden....Pages 784-787
UNSW United....Pages 788-791
UPennalizers: The University of Pennsylvania RoboCup Legged Soccer Team....Pages 792-797
Back Matter....Pages 799-802
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