The NAO Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr. Gita Sukthankar Adviser: Astrid Jackson Senior Design: Dr. Mark Heinrich

Project Objectives Create autonomous agents with soccer behaviors in a simulation environment Create resources to guide future students working with the NAO simulator or robots

Current State Soccer simulation code is rare Most code develop for SimSpark Complexity through years of iteration Documentation limited and incomplete Difficult to adopt for own purposes, not designed for flexibility

Solutions by (Senior) Design Make code public and easily available Develop in Webots for NAO Structure low-level design in a modular, easy to approach way Have thorough and complete documentation Design code for multiple functions

Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

Team Development Windows, Mac, Linux Linux Java Python Choreographe                        Naoqi API Webots Trackers                    OpenCV

Technical Design

Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

Robot Vision: OpenCV RGB HSV BGR Grayscale

Robot Vision: In Code

Robot Vision: In Code

Robot Vision: Bounding Boxes

Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

NAOqi: Anatomy of a Kick Legs fixed to constrains Balance activated for support leg Duration for balance leg mode set 3 lists of actuator settings passed 3 time steps passed and motion executed

NAOqi: Kick Locomotion

NAOqi: Decision Making NAO Behavior Tree Goalie

NAOqi: Decision Making Behavior → init stance → find ball → block

NAOqi: Decision Making NAO Behavior Tree Striker

NAOqi: Decision Making Striker Behavior Walk Towards

NAOqi: Decision Making

Major Components Robot Locomotion & Decision Making Online Resources Robot Vision

Resource: Online Wiki

Future Applications Memory of World State, Confidences Artificial Neural Networks Locomotion Training with Genetic Algorithms

Implements proposed solutions? Evaluation Implements proposed solutions?

Implements proposed solutions! Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf

Implements proposed solutions! Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots

Implements proposed solutions! Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication

Implements proposed solutions! Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü All documentation online: NAO UCF website

Implements proposed solutions! Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü ü All documentation online: NAO UCF website ü Team templates and plug’n’play BTs/FSMs

CS Senior Design Year 1 Complete Team Soccer Robots created autonomous agents with soccer behaviors in a simulation environment Team Soccer Robots created resources to guide future students working with the NAO simulator or robots