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2015 | OriginalPaper | Buchkapitel

RoboCup SPL 2014 Champion Team Paper

verfasst von : Jayen Ashar, Jaiden Ashmore, Brad Hall, Sean Harris, Bernhard Hengst, Roger Liu, Zijie Mei (Jacky), Maurice Pagnucco, Ritwik Roy, Claude Sammut, Oleg Sushkov, Belinda Teh, Luke Tsekouras

Erschienen in: RoboCup 2014: Robot World Cup XVIII

Verlag: Springer International Publishing

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Abstract

Winning the Robocup SPL World Championship is not accomplished in just one year, nor is it just a matter of writing effective software. Our success can also be attributed to the accumulation of experience since 1999, strong institutional support, and dedicated collaborative teamwork. This paper summarises the key contributing innovations from the time the software was rewritten in 2010, and provides some insight into team organisation. In this paper it is not possible to cover all aspects and intricacies of the complex systems comprising the rUNSWift software. We have therefore included an extensive list of references to our technical reports that provide detailed accounts of the research, algorithms and results over the last 5 years. All the reports are available on one website for easy access and make reference to many external publications, including those from other teams in our league.

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Vorheriges Kapitel Tech United Eindhoven, Winner RoboCup 2014 MSL

Nächstes Kapitel CIT Brains KidSize Robot: RoboCup 2014 Best Humanoid Award Winner

For completeness all the more than 40 reports are provided in one location at: http://cgi.cse.unsw.edu.au/~robocup/2014ChampionTeamPaperReports/.

Anderson, P.: New methods for improving perception in RoboCup SPL, UNSW CSE RoboCup Report 20120830-Peter.Anderson-ImprovingPerception.pdf (2012)

Anderson, P., Hengst, B.: Fast monocular visual compass for a computationally limited robot. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds.) RoboCup 2013. LNCS, vol. 8371, pp. 244–255. Springer, Heidelberg (2014)

Anderson, P., Hunter, Y., Hengst, B.: An ICP inspired inverse sensor model with unknown data association. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2713–2718. IEEE (2013)

Anderson, P., Yusmanthia, Y.: Natural landmark localisation for RoboCup, UNSW CSE RoboCup Report 20111113-AndersonYusmanthia-NaturalLandmarks.pdf (2012)

Anderson, P., Yusmanthia, Y., Hengst, B., Sowmya, A.: Robot localisation using natural landmarks. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS, vol. 7500, pp. 118–129. Springer, Heidelberg (2013)

Ashar, J., Claridge, D., Hall, B., Hengst, B., Nguyen, H., Pagnucco, M., Ratter, A., Robinson, S., Sammut, C., Vance, B., White, B., Zhu, Y.: RoboCup standard platform league - rUNSWift 2010. In: Proceedings of the Australasian Conference on Robotics and Automation (2010)

Ashmore, J.: Robot detection using bayesian machine learning, UNSW CSE RoboCup Report 20140831-Jaiden.Ashmore-RobotDetectionReport.pdf (2014)

Chatfield, C.: rUNSWift 2011 vision system: A foveated vision system for robotic soccer, UNSW CSE RoboCup Report 20110825-Carl.Chatfield-VisionFoveated.pdf (2011)

Claridge, D.: rUNSWift 2010 code release (2010). http://github.com/UNSWComputing/runswift

10.

Claridge, D.: Generation of python interfaces for RoboCup SPL robots, UNSW CSE RoboCup Report 20110228-David.Claridge-Python.pdf (2011)

11.

Claridge, D.: Multi-hypothesis localisation for the NAO humanoid robot in RoboCup SPL, UNSW CSE RoboCup Report 20110830-David.Claridge-MulitHypothesisLocalisation.pdf (2011)

12.

Deng, Y.: Natural landmark localisation, UNSW CSE RoboCup Report 20110830-Yiming.Deng-NaturalLandmarksLocalisation.pdf (2011)

13.

Harris, S.: Efficient feature detection using RANSAC, UNSW CSE RoboCup Report 20110824-Sean.Harris-RansacVision.pdf (2011)

14.

Harris, S., Anderson, P., Teh, B., Hunter, Y., Liu, R., Hengst, B., Roy, R., Li, S., Chatfield, C.: Robocup standard platform league - rUNSWift 2012 innovations. In: Proceedings of the 2012 Australasian Conference on Robotics and Automation (ACRA 2012) (2012)

15.

Hengst, B.: Robocup 2010 version 1 storyboard prototype, UNSW CSE RoboCup Report 20091013-Bernhard.Hengst-Robocup2010Storyboard.pdf (2009)

16.

Hengst, B.: Reinforcement learning of bipedal lateral behaviour and stability control with ankle-roll activation. In: Proceedings of the 16th International Conference on Climbing and Walking Robots (CLAWAR2013), World Scientific Publishing Company, Sydney, Australia (2013)

17.

Hengst, B.: rUNSWift Walk 2014 report, UNSW CSE RoboCup Report 20140930-Bernhard.Hengst-Walk2014Report.pdf (2014)

18.

Hengst, B., Ibbotson, D., Pham, S.B., Sammut, C.: The UNSW United 2000 Sony legged robot software system, UNSW CSE RoboCup Report 20001114-HengstEtAl-RobocupReport.pdf (2000)

19.

Hengst, B., Lange, M., White, B.: Learning ankle-tilt and foot-placement control for flat-footed bipedal balancing and walking. In: Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (2011)

20.

Hunter, Y.: Industrial training report (foot detection and ball stealing), UNSW CSE RoboCup Report 20110216-Youssef.Hunter-FootDetectionForBallStealing.pdf (2011)

21.

Hunter, Y.: Humanoid robot localisation for the Robocup Standard Platform League, UNSW CSE RoboCup Report 20120824-Youssef.Hunter-Localisation.pdf (2012)

22.

Jisarojito, J.: Tracking a robot using overhead cameras, UNSW CSE RoboCup Report 20110217-Jarupat.Jisarojito-OverheadCameras.pdf (2011)

23.

Kurniawan, J.: Multi-modal machine-learned robot detection for RoboCup SPL, UNSW CSE RoboCup Report 20110824-Jimmy.Kurniawan-RobotDetection.pdf (2011)

24.

Lange, M.: Developing a bipedal walk using a Cycloid II, UNSW CSE Robocup Report 20110731-Manuel.Lange-BipedalCycloidWalk.pdf (2011)

25.

Liu, R.: Bipedal walk and goalie behaviour in Robocup SPL, UNSW CSE RoboCup Report 20130108-Roger.Liu-WalkAndGoalie.pdf (2013)

26.

Ratter, A., Claridge, D., Ashar, J., Hengst, B.: Fast object detection with foveated imaging and virtual saccades on resource limited robots. In: Wang, D., Reynolds, M. (eds.) AI 2011: Advances in Artificial Intelligence. LNCS, vol. 7106, pp. 560–569. Springer, Heidelberg (2011)

27.

Ratter, A., Hengst, B., Hall, B., White, B., Vance, B., Claridge, D., Nguyen, H., Ashar, J., Robinson, S., Zhu, Y.: rUNSWift team report 2010 robocup standard platform league, UNSW CSE RoboCup Report 20100930–2010rUNSWiftTeamReport.pdf (2010)

28.

Sushkov, O.: Robot localisation using a distributed multi-modal kalman filter, and friends, UNSW CSE RoboCup Report 20060908-Oleg.Suchkov-Localisation.pdf (2006)

29.

Teh, B.: Ball modelling and its application in robot goalie behaviours, UNSW CSE RoboCup Report 20110824-Belinda.Teh-BallModellingGoalieBehaviour.pdf (2011)

30.

Teh, B.: Dynamic omnidirectional kicks on humanoid robots, UNSW CSE RoboCup Report 20120824-Belinda.Teh-OmniDirectionalKicks.pdf (2012)

31.

Tsekouras, L.: A heel to toe gait for efficient bipedal walking and stricker behaviour for rUNSWift Robocup SPL 2014, UNSW CSE RoboCup Report 20141105-Luke.Tsekouras-AHeeltoToeGait.pdf (2014)

32.

Tsekouras, L., Ashmore, J., Mei, Z., Teh, B., Sushkov, O., Roy, R., Liu, R., Harris, S., Ashar, J., Hall, B., Hengst, B., Pagnucco, M., Sammut, C.: Team rUNSWift University of NSW Australia, UNSW CSE RoboCup Report 20140630–2014Team-Robocup2014rUNSWiftTeamDescription.pdf

33.

White, B.: Humanoid omni-directional locomotion, UNSW CSE RoboCup Report 20111010-Brock.White-OmniDirectionalLocomotion.pdf (2011)

Titel: RoboCup SPL 2014 Champion Team Paper
verfasst von: Jayen Ashar
Jaiden Ashmore
Brad Hall
Sean Harris
Bernhard Hengst
Roger Liu
Zijie Mei (Jacky)
Maurice Pagnucco
Ritwik Roy
Claude Sammut
Oleg Sushkov
Belinda Teh
Luke Tsekouras
Verlag: Springer International Publishing
Buch: RoboCup 2014: Robot World Cup XVIII
Print ISBN: 978-3-319-18614-6

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

Copyright-Jahr: 2015
DOI: https://doi.org/10.1007/978-3-319-18615-3_6

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