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Ro b oCup

Ro b oCup. Kouretes Technical University of Crete Chania, Greece. Team Kouretes. www.kouretes.gr. Team Kouretes ( Κουρήτες ). Kouretes RoboCup team of the Technical University of Crete (2006)

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Ro b oCup

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  1. RoboCup KouretesTechnical University of CreteChania, Greece

  2. Team Kouretes www.kouretes.gr

  3. Team Kouretes (Κουρήτες ) • Kouretes • RoboCup team of the Technical University of Crete (2006) • ancient Cretan warriors who were protecting ancient god Zeuswhen he was born by Rhea in a cave in the mountains of Crete • Robot Names • Επιμήδης (Epimedes) • Ίδας (Idas) • Ιάσιος (Iasios) • Παιωναίος (Paioneus) • Ηρακλής (Heracles)

  4. Participation in Competitions • RoboCup 2006 [ Bremen, Germany ] • German Open 2007 [ Hannover, Germany ] • RoboCup 2007 [ Atlanta, USA ] • Rome Cup 2008 [ Rome, Italy ] • RoboCup 2008 [ Suzhou, China ] • German Open 2009 [ Hannover, Germany ] • Rome Cup 2009 [ Rome, Italy ] • RoboCup 2009[ Graz, Austria ] • Med Open 2010 [ Rome, Italy ] • RoboCup@SETN’10 [ Athens, Greece ] • RoboCup 2010 [ Singapore ]

  5. Participation in Exhibitions • Hi-Tech Innovators Partenariat 2007 [ Thessaloniki ] • TechnoTown @ Villa Torlonia 2007 [ Rome, Italy ] • Hellenic Conference on AI 2008 [ Syros, Greece ] • Athens Digital Week 2008 [ Athens, Greece ] • Festival della Creativita 2008 [ Firenze, Italy ] • Hannover Messe [ Hannover, Germany ] • Athens Digital Week 2009 [ Athens, Greece ] • SchoolFest 2010 [Athens, Greece ] • Micropolis 2010 [Athens, Greece ] • Athens Digital Week 2010 [Athens, Greece]

  6. Distinctions • 2nd place[MSRS Simulation Challenge – RoboCup 2007 ] • top 8 [ Standard Platform League, Webots – RoboCup 2008 ] • 3rd place[ Standard Platform League, Nao – RoboCup 2008 ] • 1st place [ Standard Platform League, MSRS – RoboCup 2008 ] • 1st place [ First Robotic Olympic Games, Rome Cup 2009 ] • 6thplace[ Standard Platform League, Webots – RoboCup 2009 ]

  7. Kouretes 2010 Members • Software Architecture • Alexandros Paraschos • Communication • Evangelos Vazaios • Object Recognition • Emmanuel Orfanoudakis • Localization/Learning • Eleftherios Chatzilaris • Obstacle Avoidance • Iris Kyranou • Behavior Control • Nikolaos Spanoudakis

  8. Scientific Contributions • Publications • J. Pazis and M. G. Lagoudakis, Binary Action Search for Learning Continuous-Action Control Policies, Proceedings of the 26th Intl Conf on Machine Learning (ICML), Montreal, Canada, 2009. • G. Pierris and M. G. Lagoudakis, An Interactive Tool for Designing Complex Robot Motion Patterns, Proceedings of the IEEE Intl Conf on Robotics and Automation (ICRA), Kobe, Japan, 2009. • J. Pazis and M. G. Lagoudakis, Learning Continuous-Action Control Policies, Proceedings of the IEEE Intl Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009. • S. Volioti and M. G. Lagoudakis, Histogram-Based Visual Object Recognition for the 2007 Four-Legged RoboCup League, Proceedings of the 5th Hellenic Conf on Artificial Intelligence, Syros, 2008. • G. Kontes and M. G. Lagoudakis, Coordinated Team Play in the RoboCup Four-Legged League, Proceedings of the 19th IEEE Intl Conf on Tools with Artificial Intelligence (ICTAI), 2007. • Diploma Theses • Ευάγγελος Βαζαίος, A Distributed Cross-Platform Communication Framework for Robotic Teams, 2010 • Ελευθέριος Χατζηλάρης, Visual-Feature-based Self-Localization for Robotic Soccer, 2009 • Ανδρέας Πανάκος, Efficient Color Recognition under Varying Illumination Conditions, 2009 • Walid Σουλάκης, Reinforcement Learning for Robotic Walk, 2009 • Ευστάθιος Βαφειάς, Kouretes MSRS Nao Simulation Team, 2009 • Γεώργιος Πιερρής, Soccer Skills for Humanoid Robots, 2009 • Ιάσων Πάζης, Learning Continuous-Action Control Policies, 2008 • Διονυσία Χρόνη, Motion Control of a Bipedal Robot using Reinforcement Learning, 2008 • Σουζάννα Βολιώτη, Histogram-Based Visual Object Recognition for the Four-Legged League, 2008 • Γεώργιος Κόντες, Coordinated Team Play in the RoboCup Four-Legged League, 2007

  9. Κουρήτες Research RoboCup@TUC

  10. Monad: Software Architecture

  11. Narukom: Communication

  12. Narukom: Communication

  13. KCC: Color Recognition • KCC tool • capturing • labeling • learning • classification • color table

  14. Object Recognition

  15. KLoc:Localization Monte-Carlo localization with an auxiliary particle filter

  16. KLoc:Localization True (blue) and estimated (red) path of the robot with 6 landmarks

  17. KLoc:Localization

  18. Kouretes Motion Editor Interactive Motion Design

  19. Kouretes Motion Editor

  20. Skill Learning Balancing dynamically on one leg using the FSRs and the ankle joints

  21. Mapping • Local map • polar topology • sonar readings • odometry • Map transformations • rotation translation translation translation right left and rotation

  22. Obstacle Avoidance

  23. Behavior Agents Systems Engineering Methodology (ASEME)

  24. Behavior Statechart for Inter and Intra Agent Control

  25. Behavior Statechart for Goalie Control

  26. Putting Everything Together RoboCup 2010: Kouretes (B) vs. CHITA (R)

  27. Acknowledgements

  28. The End! Thank you for your attention! Questions?

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