Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Balanced Walking with Capture Steps Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Simulation for the RoboCup Logistics League with Real-World Environment Agency and Multi-level Abstraction

Authors : Frederik Zwilling, Tim Niemueller, Gerhard Lakemeyer

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

RoboCup is particularly well-known for its soccer leagues, but there are an increasing number of application leagues. The newest one is the Logistics League where groups of robots take on the task of in-factory production logistics. It has two unique aspects: a game environment which itself acts as an agent and a focus on planning and scheduling in robotics. We propose a simulation based on Gazebo that takes these into account. It uses the exact same referee box to simulate the environment reactions similar to the real game and it supports multiple levels of abstraction that allow to focus on the planning with a high level of abstraction, or to run the full system on simulated sensor data on a lower level for rapid integration testing. We envision that this simulation could be a basis for a simulation sub-league for the LLSF to attract a wider range of participants and ease entering the robot competition.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Object Recognition for Manipulation Tasks in Real Domestic Settings: A Comparative Study
next chapter Automatic Robot Calibration for the NAO
Footnotes
2
Fawkes is Open Source software and available at http://​www.​fawkesrobotics.​org.
 
Literature
1.
Kagermann, H., Wahlster, W., Helbig, J.: Recommendations for implementing the strategic initiative INDUSTRIE 4.0. Final Report, Platform Industrie 4.0 (2013)
2.
Niemueller, T., Ewert, D., Reuter, S., Ferrein, A., Jeschke, S., Lakemeyer, G.: RoboCup logistics league sponsored by festo: a competitive factory automation testbed. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds.) RoboCup 2013. LNCS, vol. 8371, pp. 336–347. Springer, Heidelberg (2014) CrossRef
3.
4.
Niemueller, T., Lakemeyer, G., Ferrein, A., Reuter, S., Ewert, D., Jeschke, S., Pensky, D., Karras, U.: Proposal for advancements to the LLSF in 2014 and beyond. In: ICAR - 1st Workshop on Developments in RoboCup Leagues (2013)
5.
Karras, U., Pensky, D., Rojas, O.: Mobile robotics in education and research of logistics. In: IROS 2011 - Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (2011)
6.
Boedecker, J., Asada, M.: SimSpark-concepts and application in the RoboCup 3D soccer simulation league. In: SIMPAR - WS on RoboCup Simulators (2008)
7.
Akin, H.L., Ito, N., Jacoff, A., Kleiner, A., Pellenz, J., Visser, A.: RoboCup rescue robot and simulation leagues. AI Mag. 34, 78–86 (2013)
8.
van Noort, S., Visser, A.: Extending virtual robots towards RoboCup soccer simulation and @Home. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS, vol. 7500, pp. 332–343. Springer, Heidelberg (2013) CrossRef
9.
Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: USARSim: a robot simulator for research and education. In: IEEE International Conference on Robotics and Automation (ICRA) (2007)
10.
Kootbally, Z., Balakirsky, S., Visser, A.: Enabling codesharing in rescue simulation with USARSim/ROS. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds.) RoboCup 2013. LNCS, vol. 8371, pp. 592–599. Springer, Heidelberg (2014) CrossRef
11.
Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source Robot Operating System. In: ICRA Workshop on Open Source Software (2009)
12.
Niemueller, T., Ferrein, A., Beck, D., Lakemeyer, G.: Design principles of the component-based robot software framework Fawkes. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 300–311. Springer, Heidelberg (2010) CrossRef
13.
Zwilling, F.: Simulation of the RoboCup logistic league with Fawkes and Gazebo for multi-robot coordination evaluation. Bachelor’s thesis, RWTH Aachen University, Knowledge-Based Systems Group, December 2013
14.
Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: International Conference on Intelligent Robots and Systems (2004)
15.
Niemüller, T., Ferrein, A., Lakemeyer, G.: A lua-based behavior engine for controlling the humanoid robot Nao. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS, vol. 5949, pp. 240–251. Springer, Heidelberg (2010) CrossRef
16.
Beck, D., Ferrein, A., Lakemeyer, G.: A simulation environment for middle-size robots with multi-level abstraction. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007. LNCS (LNAI), vol. 5001, pp. 136–147. Springer, Heidelberg (2008) CrossRef
17.
Niemueller, T., Lakemeyer, G., Ferrein, A.: Incremental task-level reasoning in a competitive factory automation scenario. In: AAAI Spring Symposium 2013 - Designing Intelligent Robots: Reintegrating AI (2013)
Metadata
Title
Simulation for the RoboCup Logistics League with Real-World Environment Agency and Multi-level Abstraction
Authors
Frederik Zwilling
Tim Niemueller
Gerhard Lakemeyer
Copyright Year
2015
Book
RoboCup 2014: Robot World Cup XVIII

Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18615-3_18

Premium Partner

    Image Credits