Dept. of Brain Science and Engineering Kyushu Institute of Technology

1. The History of RoboCup Middle Size League Dept. of Brain Science and Engineering Kyushu Institute of Technology Yuichi Kitazumi& Kazuo Ishii

2. OUTLINE • The RoboCupProject • The RoboCup Soccer Middle Size League • Result History of the RoboCup MSL • Introduction of our Research • Summary of our survey

3. The RoboCup Project The one of the landmark project from 1993. Apollo Project, Computer Chess, etc. Landmark project Has a grand goal, and developing a lot of derived technologies in that process. ・Weather satellite ・Fluorine tools ・Remote control ・Laser technology Apollo Project

4. The RoboCup Project Final Goal: To develop a robotic soccer team that can win the human champion team by the year 2050 RoboCup Project RoboCup Soccer Simulation, , Small, Humanoid, Standard Platform Middle RoboCup Rescue Simulation, Real RoboCup @home RoboCup Junior

5. The RoboCup Soccer Middle Size League Characters of the RoboCup MSL Each team can entry 5 robots 12[m] 18[m] All robots have to be autonomous and standalone Behaviors are generated based on mounted sensors only 800[mm] Dynamic environment (Field size is the biggest in the RoboCup) Make a goal by Distributed control system 520[mm] 520[mm]

6. Result History of the RoboCup MSL ’97 Dreamteam (ISI/USC), Trakies (Japan) @Nagoya ’98 CS Freiburg (Germany) @Paris ’99 Sharif CE (Iran) @Stockholm ’00 CS Freiburg (Germany) @Melbourne ’01 CS Freiburg (Germany) @Seattle ’02 EIGEN (Japan) @Fukuoka ’03 FUSION (Japan) @Padova ’04 EIGEN (Japan) @Lisbon ’05 EIGEN (Japan) @Osaka ’06 BrainstormersTribots (Germany) @Bremen Best 8 ’07 BrainstormersTribots (Germany) @Atlanta 4th place ’08 CANBADA (Portugal) @Suzhou 6th place ’09 RFC Stuttgart (Germany) @Graz 6th place ’10 Water (China) @Singapore 7th place ’11 Water (China) @Istanbul 6th place ’12TechUnited (Holland)@Mexico5th place

7. Introduction of Our Research Development of the decision making based on the information sharing The human society is the group society Adaptation of cooperative-robots has advantages • Speed up by parallel works • Role-decision by information sharing • Task achievement by cooperation working Features RoboCup MSL offers good chances for multi-agent problems

8. Introduction of Our Research “ Hibikino – Musashi ” The team consists of Kyushu Institute of Technology, Kitakyushu University, and FAIS (Kitakyushu Foundation for the Advancement of Industry Science and Technology) Main members: Bachelor, Master, and Doctor students ＜Results＞ RoboCup2010 in Singapore Best 8 Japan Open in Osaka 1st Place RoboCup2009 in Graz Best 6 Japan Open in Osaka 1st Place RoboCup2008 in Suzhou Best 6 Japan Open in Numazu 1st Place Dimensions: Triangle 520[mm] Height 800[mm] Weight : 19.0[kg] Motor : 70[W] DC Motor x3 Wheel : Omni wheel x3 Battery : Li-Polymer 25.9[V], 2000[mAh] Sensors : Omni Camera, Digital Compass

9. History – 1997, 2000– RoboCup Projects started. - Simulation League - Middle Size League - Small Size League 1997 1998 Four-legs League started. 2000 RoboCup-99 Final Humanoid League demonstrated. Research Topics Structure Development Machine Learning for Behavior Sensor Fusion Role Decision Path Planning etc. RoboCup-00 Final URL:http://www.youtube.com/watch?v=AW1DV9nyWJc URL:http://www.youtube.com/watch?v=i-EDIgYXt0s&feature=related

10. History – 2001, 2002– New Rules were added (2002) The surround walls were removed, and put the black-white and blue-yellow poles RoboCup-01 Final 2001 Many robots used “Laser Lange Sensor” for self localization 2002 All robots had to detect the self localization by Camera Images RoboCup-02 Final URL:http://video.google.com/videoplay?docid=5703006124899668648# URL:http://video.google.com/videoplay?docid=-4355301713233889376#

11. History – 2003, 2004– New Rules were added (2003) The black-white poles were removed Field size changed to 7x10[m] from 5x8[m] (2004) Field size changed to 9x12[m] from 7x10[m] The referee box was tried to introduce RoboCup-03 Final 2003 All robots had to detect the self localization by data of yellow-blue poles and goal colors 2004 All robots tried to receive commands from referee box RoboCup-04 Final URL:http://video.google.com/videoplay?docid=-4263106102774574070# URL:http://video.google.com/videoplay?docid=-1852445150054266636#

12. History – 2005, 2006– New Rules were added (2005) The referee box was introduced (2006) Direct goal on set play was prohibited RoboCup-05 Final 2005 All robots had to receive commands from referee box 2006 All robots had to some cooperate motions with peer robots RoboCup-06 Final URL:http://www.youtube.com/watch?v=QgqG7F1Mqnk URL:http://www.youtube.com/watch?v=07GBibVfxkg

13. History – 2007, 2008– New Rules were added (2007) Field size changed to 12x18[m] from 9x12[m] Six robots could be entered Set play was introduced (2008) Deleted goal colors RoboCup-07 Final All robots had to do set plays (kick off, throw in, free kick, goal kick, corner kick) 2007 2008 All robots had to detect the self-localization by data of field lines RoboCup-08 Final URL:http://www.youtube.com/watch?v=hrwrmotof0w 13 URL:http://www.youtube.com/watch?v=QVfvoa53nuM

14. History – 2009, 2010– New Rules were added (2009) Pass behaviors were forced to be introduced (2010) Ball color became ambient color from orange 2009 RoboCup-09 Final All robots had to do the ball-pass at each set plays 2010 It became difficult that ball detection based on the color extraction RoboCup-10 Final URL:http://www.youtube.com/watch?v=Pb6OB3OJbmI URL:http://www.youtube.com/watch?v=eWPtO4oFfJM

15. Summary of RoboCup MSL Rules ’97 RoboCup MSL was started ’98 ~ ’01 No change ’02 The surround walls were removed, and put the black-white and blue-yellow poles ’03 The black-white poles were removed Field size changed to 7x10[m] from 5x8[m] ’04 Field size changed to 9x12[m] from 7x10[m] The referee box was tried to introduce ’05 The referee box was introduced (Our team began to participate to the RoboCup MSL) ’06 Direct goal on set play was prohibited ’07 Field size changed to 12x18[m] from 9x12[m] Six robots could be entered Set play was introduced ’08 Deleted goal colors ’09 Pass behaviors were forced to be introduced ’10 Ball color became ambient color from orange ’11 Pass in set play ’12 Robots can not move on center line with dribbling ball, pass behavior needed

16. Summary of Our Survey From 2006, some rules which needed the cooperative behavior were added Direct goal became no goal (2006) Pass behavior was introduced (2009) Field size became bigger than recognizable area by mounted sensors only Field size became 12x18[m] (2007) Cooperative algorithms became “REALISTIC SUBJECT” by rules-update RoboCup 2010 RoboCup 2005 URL:http://dic.academic.ru/dic.nsf/ruwiki/1423

17. Summary of Our Survey Achieved Techniques (by information sharing) Detected the data(position and velocity) of opponent robots Pass route planning ex. behavior process (Throw In : pass behavior) Ball information sharing Positioning Pass / Receive Dribble Shoot Dynamic role changing In Play Set Play t Nobody has developed the effective pass behavior in “In play” For realizing.. Opponent robots is very fast.. Should I do the pass behavior?? Opponent Analysis Function Behavior Estimator Priority Making Algorithm

18. Summary of Our Survey Cooperative behavior of Hibikino-Musashi Dynamic role change based on the relative distance to the ball FW2 DF2 l4 f(li, q) = ( kxlixq ) l2 k: coefficient q : angle between ball DF1 and target goal l3 1 1 l1 FW1 Future works Dynamic ball-pass based on behavior Estimator Decision making with considering to other robot situation and team aim 3 2 2 2 2 2 4 There is many DF, There is no peer robots, Our strategy is Defensive, I should pass to back side 1

19. References H. Kitano, M. Asada, et al, “RoboCup: robot world cup,” Robotics & Automation Magazine IEEE, Vol. 5 Issue 3, 1998, pp. 33-36. S. Monteiro, F. Ribeiro, P. Garrido, “Problems, Solutions and Trends in Middle-Size Robot Soccer – A review,” Robotica'2001 - Festival Nacional de Robótica, Guimarães, Portugal, 2001, pp.25-28. H. Fujii, D. Sakaki, K. Yoshida, “Cooperative Control Method Using Evaluation Information on Objective Achievement” 7th International Symposium on Distributed Autonomous Robotic Systems(DARS2004), Toulouse, 2004, pp.201-210. G. Neto, P. Lima, "Minimax Value Iteration applied to Robotic Soccer", IEEE ICRA 2005 Workshop on Cooperative Robotics, Barcelona, 2005 H. Rajaie, U.-P. Kappler, et al., “1. RFC Stuttgart Overview of Hardware and Software”, RoboCup 2010 Team Descriptions, Middle Size Robot League, Singapore, 2010 J.J.T.H. de Best, D.J.H.Bruijnen, et al., “Tech United Eindhoven Team Description 2010”, RoboCup 2010 Team Descriptions, Middle Size Robot League, Singapore, 2010

20. References K.Kawabata, et al., “Cooperative Soccer Play of Omni Directional Mobile Robots”, Robomec ‘98, Sendai, 1998, 1AIII4-4 E. Uchibe, et al., “Cooperation by Co-evoltion – Cooperative Behavior Acquisition in RoboCup Initiative -”, Proceedings of the Annual Conference of JSAI 12, 96-97, 1998-06-16 M. Asada, et al., “RoboCup Initiative as a New Research Project”, RSJ, 18(8), 27-30, 2000-11-15 K.Kawabata, et al., “Communication-based Soccer Play by Omni directional Mobile Robots : Uttori United 2002”, Robomec ‘02, Shimane, 2002, 1P1-C10 Y. Takahashi, et al., “RoboCup : Middle Size Robot League”, Japan Society for Fuzzy Theory and Intelligent Informatics, 14(6), 562-568, 2002-12-15

21. Thank you for your attention.E N D This presentation was made by great results of many researchers. I would like to take this opportunity to thank all of great researchers.