Welcome to our presentation Aibo field localisation ( Woiyl Hammoumi Vladimir Nedovic Bayu Slamet Roberto Valenti February 4 th, 2005

RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future International robot soccer World Championship July Osaka ‘By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team’ Teams have to publish their code after each RoboCup

4-Legged League RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Played with Aibo’s 4 vs 4: –Goalie –Defensive supporter –Offensive supporter –Striker The Dutch Aibo Team –Joint effort of various Dutch universities –First participated in 2004 –Aims for victory in 2005

Code Overview RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future

New Rules 2005 RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Increasingly natural soccer playing Changes for 2005: –Bigger playing field –White borders are removed –Colored marker poles change location –Introduction of out-ball concept –Robot’s should stay inside the field Our project: –Determine problems that will arise –Analyze and document possible solutions –Implement solutions for DT2005 code

Playing Field 2004 RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future

Playing Field 2005 RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future

Problems RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Localisation becomes inaccurate –Old field size is hard-programmed in –Marker poles are moved –Extensive usage of white border Behavior is based on closed-border field –Bounce effect of borders is used –No awareness of out-ball situations –Robots don’t know they should stay in the field

Problem Analysis RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future What we knew: –Field dimensions are hard-coded in C++ –Field positions and distances are hard- coded in the behaviour specifications What we guessed: –Field dimensions may be hard-coded or implicitly assumed elsewhere

Monte Carlo Localization RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Based on particle distribution on field –Each particle is a hypothetical pose –Coordinates and orientation Particles generated on old field size

Behaviour Control (1) RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Defined using finite state machines –Internal coordination with decision trees –Based on hard-coded field positions

Behaviour Control (2) RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future If robot.pose.x > 300 then …. –Ambiguous interpretation –Common sense / intuition

Observations GT2004 RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future GT2004 Aibo does fine –Especially goalie and striker –Robust behaviour –But: with old flag positions

Observations DT2005 RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future DT2005 Aibo has some trouble –Does fine until kick-off –After kick-off positioning is incorrect

Analysis (1) RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Initial positioning is purely based on perception With the GT2004 Aibo, all modules are based on the same (old) field dimensions The DT2005 Aibo still recieves wrong input from perception modules There remain unsolved hard-coded dependencies in the DT2005 Aibo

Analysis (2) RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Changes in C++ have been checked Changes in behaviour as well We can observe the correctness in RobotControl The problem is elsewhere –Hard-coded dependencies in Perception modules –Then we ran out of time …

Recommendations RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Check Perception modules and their configuration files Merge this with our changes in the C++ and behaviour specifications Improve behaviour to take out-ball situations into account as well And you just might win …!

Future RoboCup 4-Legged League Code Overview New Rules 2005 Playing Field 2004 Playing Field 2005 Problems Problem Analysis Monte Carlo Localization Behaviour Control Observations Analysis Recommendations Future Field specifications are likely to change more often Develop a single source for field dimensions –Extend FieldDimensions class to make it provide all necessary points and distances –Use this in all Perception modules –Use this in Behaviour module

Questions Do you have any questions?