Robocup ve USARSIM
Dr. Muhammet Balcılar
What is RoboCup?
• an international research and education initiative
• an attempt to foster AI and intelligent robotics research by
providing a standard problem
• for this purpose, a soccer game was chosen as the primary
domain
Why Soccer?
• Soccer is the world’s game.
• RoboCup is a task for a team of multiple fast-moving robots
under a dynamic environment
• in order for a robot team to actually play soccer, various
technologies must be incorporated, such as: autonomous
agents, multi-agent collaboration, strategy acquisition, and
real-time reasoning
A New Standard Problem?
• a standard problem is a
clearly-defined, realistic and
affordable challenge that
can be used to evaluate and
compare various algorithms,
theories, and architectures
• Turing proposed chess as a
standard problem for AI
(because chess is hard)
• It is proposed that RoboCup
should be a new standard
problem for intelligent
robotics
A New Standard Problem:
Why RoboCup?
Well, Deep Blue already defeated human
Grand Master Garry Kasparov. The chess
problem is (virtually) solved and has
become “too simple” to spur innovation,
whereas RoboCup is cutting-edge:
Environment
Chess
RoboCup
Static
Dynamic
State Change Turn taking
Real time
Information
accessibility
Complete
Incomplete
Sensor
Readings
Symbolic
Nonsymbolic
Control
Central
Distributed
Robocup Official Site:
http://www.robocup.org/
Robocup Soccer Ligleri
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•
•
•
•
•
•
•
Soccer Humanoid League Teen Size
Soccer Humanoid League Kid Size
Soccer Humanoid League Adult Size
Soccer Middle Size League
Soccer Small Size League
Soccer Standard Platform League
Soccer 2D Simulation League
Soccer 3D Simulation League
Robocup Rescue Ligleri
• Rescue Robot League
• Rescue Virtual Robot Simulation League
• Rescue Agent Simulation League
Robocup @Home Ligleri
• RoboCup@Home league
Robocup Junior Ligleri
• Junior Soccer League
• Junior Rescue League
• Junior Dance League
The RoboCup Leagues
Soccer Simulation
Soccer Small Size
Soccer Mid Size
Soccer Standard Platform
Soccer Humanoid
Rescue Real Robot
Rescue Simulation
RoboCup@Home
RoboCupJunior
Simulator League
Small Robot League
Middle Size Robot League
Humanoid League
Rescue Robot League
Research Challenges
High degree of mobility
Simultaneous Localization
And Mapping (SLAM)
Victim detection
Autonomy!
• Yellow (top),
orange (middle)
and red (bottom)
areas at the
2009 German
open
competition.
Competition setting
Simulated victims
Signs of life: human form, motion, heat, sound, CO2
VISUAL IMAGE
Signs of life:
form,
motion,
heat,
sound,
CO2
THERMAL
IMAGE
• AriAnA & AVA
• A joint team from Iran
and Malaysia, AriAnA
& AVA use two robots,
shown in Figure 4.
• The left robot is fitted
with a gimballed
LIDAR supported by
two servo motors, and
an inclined LIDAR at
the front. At the front
left and right are
TPA81 Devantech
thermal sensors, which
can be panned by
servo motors.
Rescue Virtual Competition
USARSim
•
•
•
•
Based on the Unreal game engine
(UT2004, Epic Games)
Realistic models of USAR
environments, robots (Pioneer2 DX,
Sony AIBO), and sensors (Laser
Range Finder, Color Camera, IMU,
Wheel Odometry)
Multiple heterogeneous agents can
be placed in the simulation
environment
High fidelity simulation of up to 12
robots
Rescue Virtual Competition
Introduction cont.
Unreal
Client
Unreal
Server
Command
Sensor
data
Sonar Sensor
message
Rescue Virtual Competition
Performance Metrics (Her sene değişiyor)
• Victim discovery
– Victims are detected by a simplified sensor retuning
ID/state depending on distance
– Victim ID (10pt), Victim status (20pt), victim location (10pt),
additional information (20pt)
• Self Localization and Mapping (SLAM)
– Metric quality (50pt): How close are reported locations to
ground truth?
– Multi-robot fusion: Bonus for maps generated by multiple
robots
• Exploration
– Max. 50pt if exploring the whole area
– NEW: Explored areas have to be marked as “cleared”
• Penalization
– Robot-Victim collision (-5pt)
– Teleoperation: Division of total score by (1+N)2
– NEW: One mandatory operator for each team
Rescue Virtual Competition
More new features
Improved robot
models for
realistic mobility
• GeoTIFF format for maps
• Maps will be overlaid on and
compared to ground truth
• Teams must specify areas
“cleared”
– Points deducted for victims in
“cleared” areas
Rescue Agent Competition
Introduction
•
Large scale disaster simulation
– Simulators for earthquake, fire,
civilians, and traffic
– The task is to develop software
agents with different roles, that
• make roads passable (police)
• extinguish the fires (fire
brigades)
• rescue all civilians (ambulances)
– Difference to Soccer Simulation:
A challenging Multi-Agent Problem
since Agents must cooperate