On the construction of a RoboCup small size league team
dc.contributor.author | Gurzoni Jr. J.A. | |
dc.contributor.author | Martins M.F. | |
dc.contributor.author | Flavio Tonidandel | |
dc.contributor.author | Reinaldo Bianchi | |
dc.contributor.authorOrcid | https://orcid.org/0000-0001-9097-827X | |
dc.contributor.authorOrcid | https://orcid.org/0000-0003-0345-668X | |
dc.date.accessioned | 2019-08-17T20:00:29Z | |
dc.date.available | 2019-08-17T20:00:29Z | |
dc.date.issued | 2011-01-05 | |
dc.description.abstract | The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. © 2011 The Brazilian Computer Society. | |
dc.description.abstractalternative | The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. | en |
dc.description.firstpage | 69 | |
dc.description.issuenumber | 1 | |
dc.description.lastpage | 82 | |
dc.description.volume | 17 | |
dc.identifier.citation | GURZONI Jr., J. A.; MARTINS, M. F.; TONIDANDEL, Flavio; BIANCHI, R. A. C. On the construction of a RoboCup small size league team. Journal of the Brazilian Computer Society (Impresso), v. 17, n.1, p. 69-82, 2011. | |
dc.identifier.doi | 10.1007/s13173-011-0028-4 | |
dc.identifier.issn | 0104-6500 | |
dc.identifier.uri | https://repositorio.fei.edu.br/handle/FEI/1003 | |
dc.identifier.url | https://doi.org/10.1007/s13173-011-0028-4 | |
dc.relation.ispartof | Journal of the Brazilian Computer Society | |
dc.rights | Acesso Aberto | |
dc.rights.license | "Este é um artigo publicado em acesso aberto sob uma licença Creative Commons (CC BY-NC 4.0). Fonte: <https://journal-bcs.springeropen.com/submission-guidelines/copyright>. Acesso em: 31/10/2019 | |
dc.subject.otherlanguage | Computer vision | |
dc.subject.otherlanguage | Neural networks | |
dc.subject.otherlanguage | Omnidirectional control | |
dc.subject.otherlanguage | Robotic soccer | |
dc.subject.otherlanguage | RRT path planning | |
dc.title | On the construction of a RoboCup small size league team | |
dc.type | Artigo | |
fei.scopus.citations | 5 | |
fei.scopus.eid | 2-s2.0-81855195130 | |
fei.scopus.subject | Algorithm implementation | |
fei.scopus.subject | Computer vision system | |
fei.scopus.subject | Multi-disciplinary research | |
fei.scopus.subject | Omnidirectional control | |
fei.scopus.subject | Path-planning algorithm | |
fei.scopus.subject | Rapidly-exploring random trees | |
fei.scopus.subject | RoboCup Small Size League | |
fei.scopus.subject | Robotic soccer | |
fei.scopus.updated | 2024-12-01 | |
fei.scopus.url | https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=81855195130&origin=inward |
Arquivos
Pacote Original
1 - 1 de 1