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Building a Soccer Team for RoboCup's Simulation League by Tralvex Yeap Tay Joc Cing Agenda Introduction and Challenges. Architecture of RoboCup Soccer Simulator. Format and Regulations of the Game. Team Coordination and Agent Architectures. Brief Demonstration. Question and Answer.
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Tay Joc Cing
Pair off all teams in the population
For each pair,
Prepare competition in Soccer Server
Loop until evaluation is finished,
For each player on both teams,
Update player with new sensor data.
If the player can kick the ball,
Call the player's KICK program.
Turn in the direction of the resultant vector.
Kick the ball as directed by the vector.
Yell out the name of teammate closest to ball.
Else if the player can see the ball
Call the player's MOVE program.
Turn and dash as directed by the resultant vector.
Turn to face the ball again.
Turn to look for the ball.
Update the state estimator.
Gather per-move information to evaluate fitness.
Compute and return each team's fitness.
Based on fitness assessments in the population,
perform GP selection, mutation crossover and reproduction to produce a new population.
Repeat as necessary.
Once an appropriate strategy is selected a mapping is created for the agents of the strategic group to the parts of the strategy.Responsibility Layer
Noise added to player’s movements and turns, deceleration of ball and player movements,
Wind factor, Stamina, Hearing decay, Vision angle.Reactive Layer
The robot agent can be considered as a knowledge structure defined as a set of dynamic and static attributes.
N: Name of agent
S: A List of its Skills
Y: Knowledge about its teammates
L: Language to represent information from the world.
H: Set of heuristic rules that governs the behaviour of the agent.
So, an agent can be defined as: A = <N,S,Y,L,H> and the team of agents as <N,S,Y,L,H>+
Ag: Agenda that contains the acts under consideration.
Q: Queues of messages (Q) received or pending to be sent
I: Information about the current state of the world defined by L.
So an agent at any moment is defined by: <A,Ag,I,Q> and the situation of the whole team as <A,Ag,I,Q>+
[Ch'ng and Padgham, 97] S. Ch'ng, L. Padgham, "Team description: Royal Melbourne Knights," In Proceedings First International Workshop on RoboCup, IJCAI-97, W17, pp. 125-128, Nagoya Congress Centre, Nagoya, Japan, 1997.
[Farris et al, 97] J. Farris, S. Luke, G. Jackson, C. Holn, J. Hendler, "Co-Evolving Soccer Softbot Team Coordination with Genetic Programming," In Proceedings First International Workshop on RoboCup, IJCAI-97, W17, pp. 115-118, Nagoya Congress Centre, Nagoya, Japan, 1997.
[Itsuki, 1995] N. Itsuki, “Soccer Server: a simulator for RoboCup,” In JSAI AI-Symposium 95: Special Session on RoboCup, December, 1995.
[Kitano et al, 95] H. Kitano, M. Asado, Y. Kuniyoshi, I. Noda, E. Osawa, “RoboCup: The Robot World Cup Initiative,” In Proceedings of the IJCAI-95 Workshop on Entertainment and AI/ALife, 1995.
[Matellan and Borrajo, 97] V. Matellan, D. Borrajo, “An Agenda-Based Multi-Agent Architecture,” In Proceedings First International Workshop on RoboCup, IJCAI-97, W17, pp. 121-124, Nagoya Congress Centre, Nagoya, Japan, 1997.