UBA-Sot: An approach to control and team strategy in robot soccer

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...

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Detalles Bibliográficos
Autores principales: Santos, J.M., Scolnik, H.D., Laplagne, I., Daicz, S., Scarpettini, F., Fassi, H., Castelo, C.
Formato: JOUR
Materias:
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
Planning by non-linear optimization
Mobile robots
Acceso en línea:http://hdl.handle.net/20.500.12110/paper_15986446_v1_n1_p149_Santos
Aporte de:
Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) de Universidad de Buenos Aires
id todo:paper_15986446_v1_n1_p149_Santos
record_format dspace
spelling todo:paper_15986446_v1_n1_p149_Santos2023-10-03T16:27:43Z UBA-Sot: An approach to control and team strategy in robot soccer Santos, J.M. Scolnik, H.D. Laplagne, I. Daicz, S. Scarpettini, F. Fassi, H. Castelo, C. 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 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. Fil:Santos, J.M. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. Fil:Laplagne, I. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. Fil:Daicz, S. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. Fil:Castelo, C. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. JOUR info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/2.5/ar http://hdl.handle.net/20.500.12110/paper_15986446_v1_n1_p149_Santos
institution Universidad de Buenos Aires
institution_str I-28
repository_str R-134
collection Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA)
topic 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
spellingShingle 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
Santos, J.M.
Scolnik, H.D.
Laplagne, I.
Daicz, S.
Scarpettini, F.
Fassi, H.
Castelo, C.
UBA-Sot: An approach to control and team strategy in robot soccer
topic_facet 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
description 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.
format JOUR
author Santos, J.M.
Scolnik, H.D.
Laplagne, I.
Daicz, S.
Scarpettini, F.
Fassi, H.
Castelo, C.
author_facet Santos, J.M.
Scolnik, H.D.
Laplagne, I.
Daicz, S.
Scarpettini, F.
Fassi, H.
Castelo, C.
author_sort Santos, J.M.
title UBA-Sot: An approach to control and team strategy in robot soccer
title_short UBA-Sot: An approach to control and team strategy in robot soccer
title_full UBA-Sot: An approach to control and team strategy in robot soccer
title_fullStr UBA-Sot: An approach to control and team strategy in robot soccer
title_full_unstemmed UBA-Sot: An approach to control and team strategy in robot soccer
title_sort uba-sot: an approach to control and team strategy in robot soccer
url http://hdl.handle.net/20.500.12110/paper_15986446_v1_n1_p149_Santos
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AT daiczs ubasotanapproachtocontrolandteamstrategyinrobotsoccer
AT scarpettinif ubasotanapproachtocontrolandteamstrategyinrobotsoccer
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