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CMUnited-98: A Team of Robotic Soccer Agents

Full Text: iaai99-cmunited98-robots.pdf PDF

In this paper, we present the main research contributions of our champion CMUnited-98 small robot team. The team is a multi-agent system in the robotic soccer entertainment application area. The robotic system has global perception and distribtuted cognitive and action. We describe the main features of the hardware design of the physical robots, including differential drive, robust mechanical structure, and a kicking device. We briefly overview the CMUnited-98 global vision processing algorithm. We then introduce our new robot motion algorithm which actively generated motion control to account for the target point, the desired robot orientation, and obstacle avoidance. Our robots exhibit successful collission-free motion in the highly dynamic soccer environment. At the strategic and decision-making level, we present the role-based behaviours of the CMUnited-98 robotic agents. Team collaboration is remarkably achieved through a new algorithm that allows for team agents to anticipate possible collaboration opportunities. Robots position themselves strategically in open positions that increase passing opportunities. The paper terminates with a summary of the results of the RoboCub-98 games in which the CMUnited-98 small robot team scored a total of 25 goals and suffered 6 goals in the 5 games that it played.

Citation

M. Veloso, M. Bowling, S. Achim, K. Han, P. Stone. "CMUnited-98: A Team of Robotic Soccer Agents". Application, Innovative Applications of Artificial Intelligence, pp 891-896, January 1999.

Keywords:  
Category: Application

BibTeX

@misc{Veloso+al:IAAI99,
  author = {Manuela Veloso and Michael Bowling and Sorin Achim and Kwun Han and
    Peter Stone},
  title = {CMUnited-98: A Team of Robotic Soccer Agents},
  Pages = {891-896},
  year = 1999,
}

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