The idea of The idea of Robot Robot SoccerSoccer

What is AI?What is AI?Research in AI includes:

design of intelligent machines formalization of the notions of intelligence

and rational behavior understanding mechanisms of intelligence interaction of humans and intelligent

machines.

Objectives of AIObjectives of AI

Engineering : costruct intelligent machines

Scientific : understand what is intelligence.

Can a robot do these?Can a robot do these?Understand?Simulate its environment?Act rationally?Collaborate and compete?Display emotions?

A team of Robots will beat the FIFA World Cup A team of Robots will beat the FIFA World Cup champions by 2050! champions by 2050!

A bold claim:A bold claim:

RoboCup - AimRoboCup - Aim”pushing the state-of-the-art””By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup.TO BOLDLY GO WHERE MAN HAS GONE BEFORE (cf. Star Trek)Formalised Testbed

Do you really believe that a team of Do you really believe that a team of Robots could beat the FIFA World Cup Robots could beat the FIFA World Cup

champions by 2050? champions by 2050? By all accounts this may sound overly ambitious. In fact, if you compare this goal to other ground breaking achievements it is not ambitious at all. The Wright brothers' first airplane was launched and 50 years later man landed on the moon. Even more recently Deep Blue the computer programmed to play chess, played chess grand master Garry Kasparov and won -- roughly 50 years after the deployment of the first computer. It's a long time. Think what has happened since 1950.

Power of AIPower of AI

In 1997 a computer, Deep Blue, won a chess match with world champion Kasparov. Accident? IBM paid Kasparov to loose? Brute force with no intelligence?So, what is intelligence?

Is the following AI?Is the following AI?

SimulationSimulation Turing test (1950)

Chess versus soccer robotChess versus soccer robot

Difference of domain characteristics between computer chess and soccer robots

DistributedCentralControlNon-symbolicSymbolicSensor ReadingsIncompleteCompleteInfo. accessibilityReal timeTurn takingState ChangeDynamicStaticEnvironmentRoboCupChess

Intelligent Agents Intelligent Agents Agents are situated Perception of environment Execution of actionsAgents can communicate and collaborate they can differ than can compete and be more or less

egoistic/altruisticThe agents have: objectives, communications, intentions.

Professor Professor Kim from Kim from

KAISTKAISTThe founder of Robot Soccer and FIRA president

A New ApproachA New Approach

Two organizations:

1. FIRA (earlier)

2. RoboCup (larger)

Four Blocks in two PCBs (Printed Four Blocks in two PCBs (Printed Circuit Boards)Circuit Boards)

Micro-controller (upper PCB) Communication module (upper

PCB) Motor and driving circuits (lower

PCB) Power (lower PCB)

top view front view side view

Importance of Robot Importance of Robot SoccerSoccer

Communication CooperationCoordination LearningCompetenceReal Time

Robot Soccer EvolutionComputer simulationsWheeled brainless robotsWheeled autonomous robotsLegged autonomous robots

Robot Soccer PurposeRobot Soccer Purpose“The number one goal of [robot

soccer] is not winning or losing, but accumulating diverse technology.” - Mr. Dao (Senior VP of Sony

Corporation).

Robot Robot Soccer Soccer

CompetitionCompetitions s

Robot Soccer? Robot Soccer?

Robot Soccer competitions proposed to help collaborate and evaluate various approaches:

Software, hardware, electronics, sensors, motors, theories.

Difficult problem, challenge for top universities and industries

FIRA & RoboCupFIRA & RoboCupHistoryCategory

Integrating various Integrating various technologiestechnologies

Autonomous agentsCollaboration of agentsStrategy acquisition Real-time information processingMobile robotics and robot visionHardware and software technologies

FIRA FIRA

IndexIndexIntroductionFIRA & Robocup History CategoryDiscussion IssuesPSU soccer robot projects

4th FIRA Robot Soccer 4th FIRA Robot Soccer World Cup World Cup WinnersWinners

Notre Dame school, Campinas, Brazil (Aug 4-8, 1999)

MiroSot 1st : RobotIS (Korea) 2nd : SIOR (Korea) 3rd : SOTY IV (Korea)

NaroSot 1st : RobotIS (Korea) 2nd : Y2K2 (Korea) 3rd : Olympus (Korea)

RoboCup-99 StockholmRoboCup-99 Stockholm WinnersWinners

Stockholm City Conference Center, Stockholm, Sweden(Jul.27 - Aug. 6, 1999)

Conjunction with IJCAI-99 Simulation League

1st : CMUnited-99 (USA) Small Size League

1st : The Big Red (USA) Middle Size League

1st : CS Sharif (Iran) Sony Legged Robot League

1st : Les 3 Mousquetaries (France)

HistoryHistory1995 - Idea of Robot Soccer Prof. Jong-Hwan Kim (KAIST) Micro-Robot World Cup Soccer Tournament

(MiroSot) Int. Organizing Committee for MiroSot (Sep.,

1995)

Pre-meeting on MiroSot Jul. 29 - Aug. 4, 1996, KAIST 30 teams from 13 countries Clear shape of MiroSot Rule

FIRAFIRA

1st MiroSot1st MiroSotNov. 9 - 12, 1996, KAIST23 teams from 10 countriesMiroSot Newton Research Lab. (USA)Single-MiroSot (S-MiroSot) Carnegie Mellon United Team (USA)

Formulation of Soccer Robot

FIRAFIRAhistoryhistory

2nd MiroSot2nd MiroSotJun. 1 - 5, 1997, KAIST22 teams from 9 countriesMiroSot

Newton Research Lab. (USA) OverDrive (MR, KAIST)

S-MiroSot UFO (MaroTech, Korea) MIRAGE (KAIST)

Development of vision technology Vision - 30(60) frames/sec.

Beginning of FIRA

FIRAFIRAhistoryhistory

FIRA Robot World FIRA Robot World CupCup

FIRA Robot World Cup ‘98 Jun. 30 - Jul. 3, 1998, La Cite de Sciences Industrie, Paris,

France NaroSot (Nano-Robot World Cup Soccer Tournament)

1st : MIRO III (KAIST) S-KheperaSot (Khepera Robot)

1st : STATIC, (Univ. of Aarhus, Denmark) MiroSot

Four FIRA regional championships 1st : The Keys (Human Interface Inc., Korea)

Development of vision & motor technology vision - 60 frames/sec motor - 2m/sec

FIRA Robot World Cup ‘99

FIRAFIRAhistoryhistory

CategoryCategoryMiroSot

NaroSot

KheperaSot

RaroSot

FIRAFIRA

MiroSotMiroSot

3 robots on 1 teamSize : 7.5cm * 7.5cm * 7.5cmBall : orange golf ballPlayground : black wooden rectangular playground

(150cm * 130cm * 5cm)

Vision : global vision system

(more than 2m above playground)

FIRAFIRAcategorycategory

Experimental SetupExperimental Setupof the Vision Systemof the Vision System

Control panel

NaroSotNaroSot5 robots on 1 teamSize : 4cm * 4cm * 5.5cmBall : orange table-tennis ballPlayground , Vision : same as Mirosot

FIRAFIRAcategorycategory

KheperaSotKheperaSot3 robots on 1 teamBall : yellow tennis ballPlayground : green playground (105cm * 68cm * 20cm)Robot : Khepera RobotVision : K213 Vision Turret

FIRAFIRAcategorycategory

RoboSotRoboSot3 robots on 1 teamSize : 15cm * 15cm * 30cmBall : red roller-hockey ballPlayground : black wooden rectangular playground

(220cm * 150cm * 30cm)Vision : on the robot

Under preparation

FIRAFIRAcategorycategory

RoboCupRoboCupA project directed by Carnegie Mellon University (CMU)Robot World Cup Soccer Games and ConferencesRobots working, playing, and competing against each otherRevolution in science and entertainmentBreakthrough in the fields of robotics and AIGoal: to culminate all the challenges in AI like temporal reasoning, machine learning, vision processing, obstacle avoidance, perception, cognition and motion control

Started in 1993…….Started in 1993…….In RoboCup 1999 there were more than 1500 researchers actively participating within the RoboCup initiative.

… and the number is still increasing.

Leagues of RoboCupLeagues of RoboCupSimulator League Small Robot League Full Set Small Robot League, which is 11 robots per team (F-180)Middle Size Robot League (F2000) Legged Robot GamesSony Legged Robot League (Sponsored by Sony) Humanoid League (From 2002, demonstration may take place before 2002) TeleOperation Track (to be announced) RoboCup Commentator Exhibition, Related Competitions (rescue, actors, etc).

Various levelsVarious levels real robot leagues software agent league special skill competition

HistoryHistoryJun. 1993 - Robot J-League

Minoru Asada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki Kitano(SONY)

Robot World Cup (RoboCup)Sep. 1993 - first public announcement

Minour Asada, Manuela Veloso(CMU)1995 - first simulator for soccer games

Itsuki Noda(ETL) C++ version soccer server v1.0 IJCAI-95 : first public demonstration

1996 - Pre-RoboCup-96 Nov. 4-8, 1996, Osaka, IROS-96 8 teams for simulation league, demonstration of middle size

league

RobocupRobocup

HistoryHistoryRoboCup-1997 Nagoya, Japan, IJCAI 97RoboCup-1998 Paris, France, MAAMAWAI*IA, Padova, Italy, September 1998RoboCup-1999 Stockholm, IJCAI 99RoboCup Euro 2000 AmsterdamRoboCup-2000 MelbourneRoboCup Japan Open 2001 FukuokaRoboCup German Open 2001 PaderbornRoboCup-2001 Seattle, USA

RoboCup 97 NagoyaRoboCup 97 NagoyaAug 23 - 29, 1997, Nagoya, JapanConjuction with IJCAI-97Simulator league 33 teams: USA=8, Europe=8, Australia=2, Japan=15 1st : AT Humboldt (Humboldt Univ., Germany)

Small size robot league 4 teams : USA, France, Spain, Japan 1st : CMUnited (CMU, USA)

Middle size robot league 5 teams : USA, Australia, Japan 1st : Dreamteam (USC, USA), Trakies(Osaka Univ.,

Japan)Expert Robot Exhibit

RoboCup 98 ParisRoboCup 98 ParisJul. 2-9, 1998, La Cite de Sciences Industrie, Paris, FranceConjunction with ICMAS-98Middle size league

1st : CS-Freiberg, GermanySmall size league

1st : CMUnited98 (CMU, USA)Simulator league

1st : CMUnited98 (CMU, USA)Exhibitions

Full set small size robot league (11 robots) Legged robot game LEGO robot football demonstration Webot simulator league

SimulatioSimulation Leaguen League

Simplified problem …World is two-dimensional.Players are points. Simplified control of movementsNo collisions and conflict solving.

Simulator League: Simulator League:

Simulation of soccer using artificial intelligence programs. Each team consists of eleven autonomous software players. Sophisticated rules apply in this league.

Simulation LeagueSimulation LeagueEach Team consisting of 11 programs, each controlling 1 of 11 simulated team membersThe game takes place on a soccer software serverMotion, energy and distributed sensing capabilities are resource boundedTime 11 minutesCommunication is available between players and strict rules are enforced e.g. offsidesMainly for researchers interested in complex multi-agent reasoning and learning issues but don’t have the resources for building real robots

Simulation LeagueSimulation League

Client-server system Server : virtual field Client : brain, control Communication : UDP/IPOpen system Clients can be written by

any programming systems.

SoccerServerSoccerServer

SoccerMonitor

Architecture Architecture

Server

Coach Blu

Coach Rosso

Arbitro umano

...

...

......

Human arbiter

Blue coach

Red

coach

Example - University Example - University teamteam

Entirely written in Java.Is built upon mainly decision trees10-15 threads running per player… however most of the time the threads is a sleep.Approx. 22 000 lines of code, and increasing!Written by 4 persons

Simulator League: Simulator League:

Small-Small-Size Size

LeagueLeague

Small-Size League (F-180)Small-Size League (F-180)Field: 2.7 m x 1.5 m

teams of autonomous small size robot play soccer game on a field equivalent to a ping-pong table. Each team consists of 5 robots.

SizeArea : 18cm rule (fit inside in 18cm diameter cylinder)Height : 15cm (global vision), 22.5cm (otherwise)

Small size leagueSmall size league

The field is the size and color of a Ping Pong table

orange golf ballorange golf ball

Robots move at speeds as high as 2 meters/second Global

vision is allowed

Robot Soccer InitiativeRobot Soccer Initiative

Basic Architecture for Robot Soccer Systems

Robots on the playing field

Host computer

Host computer

Vision system

Communication System Communication

System

“Brainless” System

Vision SystemVision System• Vision : global vision system

(more than 3m above ground)

Small-Size LeagueSmall-Size League20 minutes, 2 breaks

Real Robot Small-Size League CompetitionReal Robot Small-Size League Competition

Middle-Middle-Size Size

LeagueLeague

Middle-size Real Robot Middle-size Real Robot League (F-2000):League (F-2000):

The field is the size and color of a 3 x 3 arrangement of Ping Pong tables (9-3 5-meter field)

Each team consists of 5 robots playing with a Futsal-4 ball (4 players, one goal-keeper)

Larger (50 centimeters in diameter) robots Global vision is not allowed.

Each robot has its own vision system Goals are colored Field is surrounded by walls to allow for

distributed localization through robot sensing Rule structure based on the official FIFA rules

Medium size leagueMedium size league

Teams of autonomous mid size robots

Real Robot Middle-Size League Real Robot Middle-Size League CompetitionCompetition

Ball : red small soccer ball (FIFA standard size 4 or 5)Playground : green playground (10m * 7m * 0.5m)

Medium Size Medium Size LeagueLeague

Medium Size LeagueMedium Size League

Robots can be heterogenousRobots can be heterogenous

Middle-Middle-Size Size

LeagueLeague

Sony Sony Legged Legged Robot Robot

LeagueLeague

Sony Legged Robot LeagueSony Legged Robot League3 robots on 1 team (including the goalkeeper).Robot : AIBO ERS-110 (provided by Sony)

No communication, autonomous robots, No communication, autonomous robots, software only. Legged Robot Leaguesoftware only. Legged Robot League. 2.8 m x 1.8 . 2.8 m x 1.8

mm2 players and 1 goal-keeper in a team2 players and 1 goal-keeper in a team

Sony Legged Robot LeagueSony Legged Robot LeagueIs played on a field, approx 3x2 meter Sony develops the robots, and provides a interface for the programming of the robots.

•No Hardware modification is allowed

Playing time is 10 minutes per half, with a 10 minute break at halftime

Do different Robots have different personalities? Some teams have robots with very different capabilities.But it is hard to think of them as having personalities; rather the robots have different playing styles.

Early Sony prototypeEarly Sony prototype

Robot movements closely mirror those of animals

•The winner is the team that scores the most goals.• In the event of a tie, a sudden death penalty kick competition will determine the winner

The Legged Robot LeagueThe Legged Robot League

The Legged Robot LeagueThe Legged Robot League

If opposing teams' robots are damaged or play is excessively rough (whether intentional or not), penalties may be assessed to the offending robot

System ComparisonsSystem Comparisons

Brain-on-board system

Merits Demerits Research purpose

Robot -based

system

Low cost Easy to

develop

Cannot use local sensors High computing power &

fast sampling time

Suitable for many agents Can use local information

Complex and expensive robots.

Hard to build the system

Suitable to modularize

Risk of inconsistent property between host computer and robot system

Vision system Multi-agent theory

Robot system Multi-agent system

development

Robot-based and vision-based systems

Remote-brainless system

HumanoiHumanoid Leagued League

Starting 2002, the humanoid Starting 2002, the humanoid leagueleague

Humanoid LeagueHumanoid LeagueBi-Ped League (Humanoid) Australia Japan

RobotCup-RobotCup-RescueRescue

RoboCup-Rescue Simulation Project is a new practical domain of RoboCupA new initiative on search and rescue for large scale disastersA generic urban disaster simulation environment constructed on network computersHeterogeneous intelligent agents such as fire fighters, commanders, victims, volunteers, etc. conduct search and rescue activities in this virtual disaster worldGoal: to enlighten citizens about accurate damage predictions, decision support in real disasters, and emergence of better disaster prevention strategies

Robocup-Robocup-JuniorJunior

Initiative to promote educational aspects regarding RoboCup and advanced robotics topics

children below 18 years old participate in the RoboCup-Junior games

promotes participation by under-graduates, non-science graduates and general public, who are interested in RoboCup, but do not have the effort to get involved in the RoboCup World Cup games

CompetitorsCompetitorsSimulation

Japan Iran Singapore USA Russia Germany Romania Portugal Catalonia Italy England Finland Sweden Australia

F-180 (Small Size)

Australia Belgium Catalonia China Denmark Germany Japan Korea New Zealand Portugal Singapore USA

F-2000 (Middle Size)

Italy Australia Germany Iran Japan Portugal Singapore USA

Sony Four Legged

USA France Japan Australia USA Canada Germany Sweden Italy England

Champions:1 USA, Cornell

2 Germany3 Singapore

Champions:1 Portugal2 Germany3 USA, CMU

Champions:1 Germany

2 Italy3 Iran

Champions:1 Australia2 France

3 USA, CMU

Online ReferencesOnline Referenceshttp://www.robocup.orghttp://www.robocup2000.orghttp://world.sony.com/dream/robocup/robocup2000/http://robomec.cs.kobe-u.ac.jp/robocup-rescue/http://www.artificialia.com/RoboCupJr/http://www.namultimedia.com/robocup/http://parrotfish.coral.cs.cmu.edu/robocup-small/http://owl.informatik.uni-ulm.de/ROBOCUP/

ProblemsProblems1. Propose other robot sports in addition to soccer and sumo. Wrestling? Volleyball? Fencing? Write the rules and design a robot to play them. What will be technical and what will be the scientific challenge.2. Design the rules for walking robots playing soccer. Design the field. How to control the camera. Do we need sensors and for what? Where are they located?