Artículo
Abstract:
In this study, we introduce the main ideas on the control and strategy used by the robot soccer team of the Universidad de Buenos Aires, UBA-Sot. The basis of our approach is to obtain a cooperative behavior, which emerges from homogeneous sets of individual behaviors. Except for the goalkeeper, the behavior set of each robot contains a small number of individual behaviors. Basically, the individual behaviors have the same core: to move from the initial toward the target coordinates. However, these individual behaviors differ because each one has a different precondition associated with it. Each precondition is the combination of a number of elementary ones. The aim of our approach is to answer the following questions: How can the robot compute the preconditions in time? How are the control actions defined, which allow the robot to move from the initial toward the final coordinates? The way we cope with these issues is, on the one hand, to use ball and robot predictors and, on the other hand, to use very fast planning. Our proposal is to use planning in such a way that the behavior obtained is closer to a reactive than a deliberative one. Simulations and experiments on real robots, based on this approach, have so far given encouraging results.
Registro:
| Documento: | Artículo |
| Título: | UBA-Sot: An approach to control and team strategy in robot soccer |
| Autor: | Santos, J.M.; Scolnik, H.D.; Laplagne, I.; Daicz, S.; Scarpettini, F.; Fassi, H.; Castelo, C. |
| Filiación: | Departamento de Computación, Fac. de Ciencias Exactas y Naturales, Ciudad Universitaria, Pabellón I, 1428 Cdad. de Buenos Aires, Argentina |
| Palabras clave: | Emergent cooperative behavior; Planning by non-linear- optimization; Robot soccer; Algorithms; Computational complexity; Computer simulation; Cost benefit analysis; Functions; Nonlinear systems; Optimization; Problem solving; Cost functions; Emergent cooperative behavior; Planning by non-linear optimization; Robot soccer; Mobile robots |
| Año: | 2003 |
| Volumen: | 1 |
| Número: | 1 |
| Página de inicio: | 149 |
| Página de fin: | 155 |
| Título revista: | International Journal of Control, Automation and Systems |
| Título revista abreviado: | Int. J. Control Autom. Syst. |
| ISSN: | 15986446 |
| Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_15986446_v1_n1_p149_Santos |
Referencias:
- Rumelhart, D.E., McClelland, J.L., (1986) Parallel Distributed Processing, 1. , MIT Press, Cambridge
- Powell, M.J.D., An efficient method for finding the minimum of a function of several variables without calculating derivatives (1964) Computer. Jounnal, 7, p. 155
- Maes, P., Brooks, R.A., Learning to coordinate behaviors (1990) AAAI, pp. 796-802. , Boston, MA
- Li, W., Naik, D., Swetits, J., A data soothing tchnique for pecewise convex/concave curves (1996) SIAM Journal on Scientific Computing, 17 (2), pp. 517-537
- Wright, M.H., Direct search methods: Once scorned now respectable (1996) Proc. of the 1995 Dundee Biennial Conference in Numerical Analysis, pp. 191-208. , E. D. F. Griffiths and G. A. Watson, Addison Wesley Longman
Citas:
---------- APA ----------
Santos, J.M., Scolnik, H.D., Laplagne, I., Daicz, S., Scarpettini, F., Fassi, H. & Castelo, C. (2003) . UBA-Sot: An approach to control and team strategy in robot soccer. International Journal of Control, Automation and Systems, 1(1), 149-155.Recuperado de https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_15986446_v1_n1_p149_Santos [ ]
---------- CHICAGO ----------
Santos, J.M., Scolnik, H.D., Laplagne, I., Daicz, S., Scarpettini, F., Fassi, H., et al. "UBA-Sot: An approach to control and team strategy in robot soccer" . International Journal of Control, Automation and Systems 1, no. 1 (2003) : 149-155.Recuperado de https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_15986446_v1_n1_p149_Santos [ ]
---------- MLA ----------
Santos, J.M., Scolnik, H.D., Laplagne, I., Daicz, S., Scarpettini, F., Fassi, H., et al. "UBA-Sot: An approach to control and team strategy in robot soccer" . International Journal of Control, Automation and Systems, vol. 1, no. 1, 2003, pp. 149-155.Recuperado de https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_15986446_v1_n1_p149_Santos [ ]
---------- VANCOUVER ----------
Santos, J.M., Scolnik, H.D., Laplagne, I., Daicz, S., Scarpettini, F., Fassi, H., et al. UBA-Sot: An approach to control and team strategy in robot soccer. Int. J. Control Autom. Syst. 2003;1(1):149-155.Available from: https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_15986446_v1_n1_p149_Santos [ ]
