Artificial Intelligence: RoboCup
by
12 March 2019
Submitted as part of the requirements for
in the
ARTICULATION
program at the
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Table of Contents
.................................................................................................................. Error! Bookmark not defined.
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Intelligent attributes for the individual members of each team..................................................... 3
2
The collective (group) intelligence attributes for each team .......................................................... 4
3
List of activities that a player must be able to perform in order to function effectively as a player
5
4 Robot soccer player as an intelligent agent, provide a Performance Measure Actuators and
Sensors (PEAS) ......................................................................................................................................... 6
5
Generate a PEAS description of a typical robot soccer team.......................................................... 6
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Characteristics of the environment for the intelligent agent ......................................................... 7
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Intelligent attributes for the individual members of each team
Agility
The capability to move towards a specified posture, while avoiding
obstacles, in order to accomplish or maintain ball retention.
Balancing
The player must be able to stay grounded and move gracefully on the
field.
Ball control The ability to collect, guide, and manipulate the ball and keep it under
control.
Decision-making The ability to make relational, tactical, organizational and strategic
decision(s) for the benefit of the team as a player.
Dribbling
This attribute affects how well a player keeps possession of the ball while
running with it.
Intercepting The ability to read the game and intercept ball passes.
Marking
This determines the player's ability to trail and defend against an
opposing player.
Navigating Mapping out which course of action and/or direction to take.
Passing
Determines a player's accuracy and speed of passing over a specified
distance.
Self-Localization
Temporal positioning and orientation by player to adequately
prepare next move.
Spatial awareness The player’s ability to visualize and understand distance
perception in relation to the ball, other players and the goalpost.
Vision
The capacity to be able to locate the ball, spot fellow teammates and
identify the opposition.
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The collective (group) intelligence attributes for each team
Collaboration:
Achieve coordination and collaboration amongst players in order
to maintain possession of the ball and ensuing to score potential
goal(s) at opposite team’s goalpost.
Communication:
The ability to interact and communicate with each other on the
field.
Control:
This is how the team functions and move into spaces along with
action choice, formation design and collective movements.
Formation:
Formalizing roles and responsibilities assigned to players within
the team.
Navigation:
Locating nearest teammate to pass the ball, ultimately
progressing to achieve goal.
Strategize:
Executing team strategy and formation with pre-defined roles by
players (defender, striker, goalkeeper, etc.).
Synergy:
Players within a team must be able to discern who performs what
task, at a specified time, which includes synchronization in a
distributed manner, while behaving as a centralized collective.
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3
List of activities that a player must be able to perform in order to function
effectively as a player

Blocking - the opponent

Dribble – with the ball

Intercept – a ball pass

Kick - ball

Mark - opposition

Move – on the field

Pass – ball to teammate

Tackle – the opposing player

Turn – in direction of the ball

Score – at opponent’s goalpost

Self-Localization – by player to position and orientate

Stand – awaiting ball

Visualization – of the environment
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Robot soccer player as an intelligent agent, provide a Performance Measure
Actuators and Sensors (PEAS)

Performance measure: Score goal, Play ball, Win the game, Prevent
opposing Player from scoring.

Environment: Soccer field with demarcating lines, Ball, Goalposts and
nets, Robot Teammates, Robot Opponents, Spectators.
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
Actuators: Robot’s legs, arms, head and motors.

Sensors: Camera, Laser Ultrasound, Sensors, Wireless signaling.
Generate a PEAS description of a typical robot soccer team

Performance measure:
Score goals, Play ball, Win the game, Inhibit
opposing Team from scoring.

Environment: Soccer field with demarcating lines, Ball, Goalposts and
nets, Robot Teammates, Robot Opponents, Spectators.

Actuators: Robot’s legs, arms, head and motors.

Sensors: Camera, Laser Ultrasound, Sensors, Wireless signaling.
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Characteristics of the environment for the intelligent agent
Partially observable:
This is due to the unpredictability of the game and inability
to determine every outcome. This allows the handling of noisy
communications as well as adding to the partial perception
problem of keeping track of everyone else with unreliable
information.
Stochastic:
Data that is gathered by the agent (sensors) will have an element
of uncertainty and randomness associated to it due to the nature
of the game with an infinite number of possibilities.
Dynamic:
The presence of other players makes the environment dynamic.
The surroundings may change over time as the agent/player is
thinking/executing what action to take.
Continuous:
Signals constantly coming into sensors, actions frequently
changing
conditions,
precepts,
or
movements
can
vary
continuously (in real-time).
Situated:
The agent acts directly in the actual environment.
Sequential:
Current decisions could affect future decisions.
Known:
The rules of the game, or physics /dynamics of the environment,
are known to the agent.
Multi-agent:
The existence of players in the soccer team (or opposing team)
are present as agents. This can also be further categorized as a
partially competitive multi-agent environment due to nature of the
game. The environment is both collaborative and adversarial as
teammates co-operate within a team to achieve specific goals
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