On the construction of a RoboCup small size league team

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dc.contributor.authorGurzoni Jr. J.A.
dc.contributor.authorMartins M.F.
dc.contributor.authorFlavio Tonidandel
dc.contributor.authorReinaldo Bianchi
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-9097-827X
dc.contributor.authorOrcidhttps://orcid.org/0000-0003-0345-668X
dc.date.accessioned2019-08-17T20:00:29Z
dc.date.available2019-08-17T20:00:29Z
dc.date.issued2011-01-05
dc.description.abstractThe 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.abstractalternativeThe 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.firstpage69
dc.description.issuenumber1
dc.description.lastpage82
dc.description.volume17
dc.identifier.citationGURZONI 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.doi10.1007/s13173-011-0028-4
dc.identifier.issn0104-6500
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/1003
dc.identifier.urlhttps://doi.org/10.1007/s13173-011-0028-4
dc.relation.ispartofJournal of the Brazilian Computer Society
dc.rightsAcesso 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.otherlanguageComputer vision
dc.subject.otherlanguageNeural networks
dc.subject.otherlanguageOmnidirectional control
dc.subject.otherlanguageRobotic soccer
dc.subject.otherlanguageRRT path planning
dc.titleOn the construction of a RoboCup small size league team
dc.typeArtigo
fei.scopus.citations5
fei.scopus.eid2-s2.0-81855195130
fei.scopus.subjectAlgorithm implementation
fei.scopus.subjectComputer vision system
fei.scopus.subjectMulti-disciplinary research
fei.scopus.subjectOmnidirectional control
fei.scopus.subjectPath-planning algorithm
fei.scopus.subjectRapidly-exploring random trees
fei.scopus.subjectRoboCup Small Size League
fei.scopus.subjectRobotic soccer
fei.scopus.updated2024-03-04
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=81855195130&origin=inward
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