Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated ...
1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfig... more 1Abstract — This paper presents a new gait called tricycleBot, which is implemented on a reconfigurable modular robot called SuperBot. In this paper, the design of SuperBot is first reviewed, and then the configuration design and locomotion control of tricycleBot is described. Two different wireless controllers are used to remotely control tricycleBot. Experiment results show that tricycleBot is capable of carrying payloads more than 5 times of its own weight with satisfactory speed. It can also be steered remotely to move forward/backward, turn left/right, and travel over 1 km on a fully charged set of batteries in a carpeted office environment, or over 2 km on a smooth marble surface. C I.
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond an individual's capabilities), and intelligent (reasoning and planning actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, which raises a set of challenges that are new to individual research disciplines. This article describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have inte...
Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic s... more Middle-sized robot soccer competition provides an excellent opportunity for distributed robotic systems. In particular, a team of dog-sized robot players must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and hit a FIFA size-4 ball in the correct direction. All these tasks demand integrated robots that are autonomous (on-board sensing, thinking, and acting as living creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Building such robots may require techniques that are different from those employed in separate research disciplines. This paper describes our experience in building these soccer robots and highlights problems and solutions that are unique to such multi-agent robotic systems in general. ...
Robot soccer competition provides an excellent opportunity for integrated robotics research. In p... more Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real-time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system, and this raises a set of challenges that are new to individual research disciplines. This paper describes our experience (problems and solutions) in these aspects. Our robots share the same general architecture and basic hardware, but they have integrated abi...
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Papers by Behnam Salemi