1. Pelen Sandal 2008 RoboCup Movement Models Authors: Mariusz Wojcik Goncalo Ferraz Leszek Manicki Jaroslaw Tempski

2. Pelen Sandal 2008 RoboCup objects  RoboCup Server models movement of objects: players and ball.  In each simulation step t each object has following parameters: position velocity acceleration

3. Pelen Sandal 2008 Equations  Acceleration is derived from power rate and angle  Movement of objects is calculated as following manner:

4. Pelen Sandal 2008 Movement Noise Model  RoboCup features also „noise” containing movement model  „Noise” is added to the model in order to reflect unexpected movements of objects in real world  β noise parameter is added to movement equations

5. Pelen Sandal 2008 Collision Model  Collision – at the end of the simulation cycle two objects overlap  Colliding models are moved back until they do not overlap  The velocities of the objects are multiplied by -0.1

6. Pelen Sandal 2008 Dash Model  dash command  Player can move forwards and backwards  The acceleration power is set (power parameter of dash command)  Negative power means accelarating backwards  Accelerating reduces stamina of the player  Accelerating backwards reduces twice as much stamina

7. Pelen Sandal 2008 Dash Model  Player may accelerate only once per simulation step  Player may accelerate only using dash command

8. Pelen Sandal 2008 Turn and TurnNeck Model  turn command  Angle the player turns is set  RoboCup uses inertia concept that makes it more difficult for the player to turn when he is moving  When player does not move he turns precisely the given angle  Player may turn his neck using turn_neck command. This is the way to change the viewing angle of the player

9. Pelen Sandal 2008 Stamina Model  The stamina of the players consists of following parameters: Value Recovery Effort  Recovery says how much stamina recovers each cycle  Effort says how effective dashing is (how fast player reduces stamina)

10. Pelen Sandal 2008 Kick Model  kick command  Command parameters are the kich power and the angle the player kicks the ball to  Player may kick the ball when the ball is in range of the player and the player is not marked offside.  The effective kick power depends on the distance from the ball to the player and on the angle between the player and the ball

11. Pelen Sandal 2008 Catch Model  catch command  Command parameter is the catch angle  Each goalkeeper has rectangular area he catches ball in  The ball is caught with some propability  After catching the ball, goalkeeper can move with the ball inside the penalty area (move command)

12. Pelen Sandal 2008 Catch Model - example

13. Pelen Sandal 2008 Move Model  move command  Command is available at the beginning of each half and after a goal has been scored  Players may be moved to a position of its team half

14. Pelen Sandal 2008 Say Model  say command  Messages players say can be heard within some distance  Message is fixed size and contains letters, digits and some characters

15. Pelen Sandal 2008 The End  Danke schön