Soccer Robotics

Humanoids; a most intriguing subject to behold by both the engineers and the world at large. With the introduction of humanoid robot NAO by Aldebaran-Robotics in 2008, a performant biped robot is now available and affordable for research laboratories and the mass market. In this paper, an exploration of current trends in control methods of biped walks, behavior interface tools for motion control for NAO and imminent findings in both research areas are discussed. Future directions are for researchers to devise a unique controller with low power consumption without compromising the robot's speed and robustness.

This paper describes the activities of the research group Bahia Robotics Team (BRT) in preparation of the Bahia-PV team for the Physical Visualization(PV) Sub-League, disputed for the first time in RoboCup 2007 at Atlanta. In this paper we give an overview of this new sub-league, and present the proposal for the architecture and strategies of a robotic soccer team in PV environment. We also present new applications that explores the potentiality of the PV environment.

This article presents the initial results of the research group Bahia Robotics Team in the category of simulated soccer 2D. In this TDP are presented the team's architecture and the techniques of Artificial Intelligence used in the player's skills: controllers fuzzy and neural networks. The team Bahia2D was tested in matches in the Robocup 2007 qualification, obtaining success and being the unique Brazilian team qualified for the world championship in the category of simulated soccer 2D. The results of the preliminary rounds (SSIL -Soccer Simulation Internet League) and of the participation in Robocup 2007 are presented, analyzed and compared, showing the team's evolution in the short space of time among the two competitions. Resumo. Este artigo apresenta os resultados iniciais do grupo de pesquisa Bahia Robotics Team na categoria de futebol simulado 2D. Neste TDP são apresentados a arquitetura do time e as técnicas de Inteligência Artificial utilizadas nas habilidades dos jogadores: controladores fuzzy e redes neurais artificiais. O time Bahia2D foi testado em partidas nas eliminatórias da Robocup 2007, obtendo êxito ao ser o único time brasileiro classificado para o mundial na categoria de futebol simulado 2D. Os resultados das eliminatórias (A SSIL -Soccer Simulation Internet League) e da participação na Robocup 2007 são apresentados, analisados e comparados, mostrando a evolução do time no curto espaço de tempo entre as duas competições.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

2 Intelligent Computing Research Group(GPCI) University Center of Bahia (FIB) Rua Xingu, nº. 179, Jardim Atalaia/STIEP. Salvador – BA – Brazil [email protected], {helderfib, okvictorok, simonpiata}@yahoo.com.br, {hugodaluz, jessy.meyer}@gmail.com

As organizers of the 13th Edition of the "Workshop of Physical Agents (WAF)" we want to give a warm welcome to all the attendants to the University of Santiago de Compostela (USC). We hope that this city, end of the way of St. James followed by countless pilgrims during more than a thousand years, and this university, one of the eldest in Spain and that has been always committed to research and the generation of knowledge, provide inspiration and a working atmosphere favourable for the workshop.

This paper presents the initial research results of Bahia Robotics
Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer.
In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

Abstract. This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented. Key Words: fuzzy logic, simulation, robotics soccer 1.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some of the players skills. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing skill improved. The goalkeeper and the defenders had their positioning skill improved. The ball passing was improved for all the players. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

This article presents the initial results of the research group Bahia Robotics Team in the category of simulated soccer 2D. In this TDP are presented the team's architecture and the techniques of Artificial Intelligence used in the player's skills: controllers fuzzy and neural networks. The team Bahia2D was tested in matches in the Robocup 2007 qualification, obtaining success and being the unique Brazilian team qualified for the world championship in the category of simulated soccer 2D. The results of the preliminary rounds (SSIL-Soccer Simulation Internet League) and of the participation in Robocup 2007 are presented, analyzed and compared, showing the team's evolution in the short space of time among the two competitions.

This paper describes our approach on evolving a robot controller to generate a set of goalkeeper behaviours in the Simulation League of the RoboCup competition. The goalkeeper agent is a software construct that performs in a simulated environment provided by the Soccer Server. The soccer server is a noisy environment provided as a testing ground for various artificial intelligence techniques used by different research teams around the world. Our experiments were set out to determine the conditions that need to be met for an evolved goalkeeper agent to perform adequately in a defensive situation. A framework was developed to test the agent's performance in the simulator. The results show that our approach was able to produce a robust robot controller.

This paper describes a research about fuzzy controllers for the positioning of the goalkeeper without the ball in the 2d simulated robot soccer. The goal of this research was to improve the behavior of the goalkeeper, raising the number of catches and decreasing the number of goals, improving its positioning to catch the ball. To validate the research, 30 matches were simulated against some of the best teams of the world that participate of the RoboCup. The achieved results are presented, the conclusions are discussed and future works are suggested.

Abstract. This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented. Key Words: planning, reasoning and modeling, fuzzy logic, simulation 1.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

Este artigo descreve uma pesquisa sobre controladores fuzzy para o posicionamento do goleiro sem bola no futebol de robôs simulado em duas dimensões. Tal pesquisa foi realizada com o intuito de melhorar o desempenho do goleiro, mais especificamente, aumentar a quantidade de bolas agarradas pelo mesmo, em detrimento aos gols sofridos, melhorando seu posicionamento para recepcionar a bola. Para validar a pesquisa, foram simuladas 30 partidas contra alguns dos melhores times do mundo que participam da RoboCup. Os resultados obtidos são apresentados e as conclusões tomadas são discutidas, bem como são oferecidas sugestões de trabalhos futuros.

This paper presents the initial research results of Bahia Robotics Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some of the players skills. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing skill improved. The goalkeeper and the defenders had their positioning skill improved. The ball passing was improved for all the players. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

2 Intelligent Computing Research Group(GPCI) University Center of Bahia (FIB) Rua Xingu, nº. 179, Jardim Atalaia/STIEP. Salvador – BA – Brazil [email protected], {helderfib, okvictorok, simonpiata}@yahoo.com.br, {hugodaluz, jessy.meyer}@gmail.com

2 Intelligent Computing Research Group(GPCI) University Center of Bahia (FIB) Rua Xingu, nº. 179, Jardim Atalaia/STIEP. Salvador – BA – Brazil [email protected], {helderfib, okvictorok, simonpiata}@yahoo.com.br, {hugodaluz, jessy.meyer}@gmail.com

Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

Abstrak___ Kemajuan teknologi yang semakin pesat terutama dalam bidang teknologi robotika telah memasuki berbagai segi kehidupan manusia mulai dari bidang otomatisasi industri, militer, intertaintmen maupun dalam bidang medis. Humanoid Soccer Robot adalah salah satu bentuk implementasi teknologi dalam bidang robotika yang memiliki kemampuan menirukan salah satu atau beberapa kegiatan manusia seperti bermain sepak bola dan sebagainya. Sensor yang dibutuhkan untuk mewakili suatu indera manusia adalah kamera CMU Cam2 sehingga dibutuhkan suatu sistem kendali secara visual. Pada prinsipnya tujuan dari kendali visual pada Humanoid Soccer Robot ini diterapkan agar robot memiliki kecerdasan dalam mengenali objek berupa bola, pemrosesan gambar yang dilakukan yaitu mendeteksi objek menggunakan metode tracking color yang mana merupakan metode mencocokkan warna yang sesuai dengan bentuk benda apapun serta menentukan titik tengah dari objek yang terdeteksi. Informasi lokasi titik tengah pada objek merupakan informasi navigasi sehingga menghasilkan kondisi -kondisi yang direspon oleh robot dengan cara bergerak ke arah objek tersebut. Penerapan metode fuzzy dalam robot dilakukan agar respon yang diambil robot lebih sesuai dengan kondisi yang terjadi pada sensor (kamera).

This chapter presents the research performed in the context of FC Portugal project in the areas of agent architectures, coordination methodologies, coaching and agent development tools. FC Portugal's research has been integrated in several teams that have participated with considerable success in distinct RoboCup leagues and competitions. The chapter includes a brief description of the main competitions in which FC Portugal has participated with focus in the simulation leagues and related challenges. It also presents some of the developed techniques and results achieved in controlled experiments. These results, together with the impressive record of results achieved by FC Portugal teams in RoboCup competitions show that the techniques developed can significantly improve any soccer robotics team performance.

Team. This is a new research group created to investigate the application of artificial intelligence methods in the standard problem of robotics soccer. In this work, fuzzy controllers are used to improve some abilities of the players. In the case of the attackers, the kick and the positioning ability were improved. The midfielders had their positioning and passing ability improved. The goalkeeper and the defenders had their positioning ability improved. The generated Bahia2D soccer team was tested in matches against some victorious teams from Robocup Brazil Open 2006 and from previous editions of the Robocup World Competition. The positive results achieved and the ongoing works to improve the current limitations are also presented.

Este artigo apresenta os resultados iniciais do grupo de pesquisa Bahia Robotics Team. Neste trabalho, controladores fuzzy são usados para melhorar algumas habilidades dos jogadores. Para os atacantes, o chute e o posicionamento foram aperfeiçoados. Os meiocampistas tiveram seu posicinamento e tomada de decisões abordados. Goleiro e defensores tiveram o posicionamento tratado. O passe de bola melhorou para todos os jogadores. O time gerado Bahia2D foi testado em partidas contra algumas equipes vitoriosas no Ropocup Brasil Open 2006 e em edições anteriores da competição mundial da Robocup. Apresenta também os resultados positivos obtidos até o momento, bem como os trabalhos em andamento para solucionar problemas que ainda são encontrados.