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The idea of
Robot Soccer
What is AI?
Research in AI includes:
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design of intelligent machines
formalization of the notions of intelligence and
rational behavior
understanding mechanisms of intelligence
interaction of humans and intelligent machines.
Objectives of AI
Engineering : costruct intelligent machines
Scientific : understand what is intelligence.
Can a robot do these?
Understand?
Simulate its environment?
Act rationally?
Collaborate and compete?
Display emotions?
A bold claim:
A team of Robots will beat the FIFA World Cup
champions by 2050!
RoboCup - Aim
”pushing the state-of-the-art”
”By mid-21st century, a team of fully
autonomous humanoid robot soccer
players shall win the soccer game,
comply with the official rule of the FIFA,
against the winner of the most recent
World Cup.
TO BOLDLY GO WHERE MAN HAS GONE
BEFORE (cf. Star Trek)
Formalised Testbed
Do you really believe that a team of Robots
could beat the FIFA World Cup champions by
2050?
By all accounts this may sound overly ambitious.
In fact, if you compare this goal to other ground breaking
achievements it is not ambitious at all.
The Wright brothers' first airplane was launched and 50 years
later man landed on the moon.
Even more recently Deep Blue the computer programmed to
play chess, played chess grand master Garry Kasparov and
won -- roughly 50 years after the deployment of the first
computer.
It's a long time.
Think what has happened since 1950.
Power of AI
Is the following AI?
In 1997 a computer, Deep Blue, won a chess
match with world champion Kasparov.
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Accident?
IBM paid Kasparov to loose?
Brute force with no intelligence?
So, what is intelligence?
Simulation
Turing test (1950)
Chess versus soccer robot
Environment
State Change
Info. accessibility
Sensor Readings
Control
Chess
Static
Turn taking
Complete
Symbolic
Central
RoboCup
Dynamic
Real time
Incomplete
Non-symbolic
Distributed
Difference of domain characteristics between computer chess and soccer
robots
Intelligent Agents
Agents are situated
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Perception of environment
Execution of actions
Agents can communicate and collaborate
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they can differ
than can compete and be more or less
egoistic/altruistic
The agents have:
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objectives,
communications,
intentions.
A New Approach
Professor
Kim from
KAIST
The founder of
Robot Soccer and
FIRA president
Two organizations:
1. FIRA (earlier)
2. RoboCup (larger)
Four Blocks in two PCBs (Printed Circuit Boards)
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Micro-controller (upper PCB)
Communication module (upper PCB)
Motor and driving circuits (lower PCB)
Power (lower PCB)
top view
front view
side view
Importance of Robot
Soccer
Communication
Cooperation
Coordination
Learning
Competence
Real Time
Robot Soccer Evolution
Computer simulations
Wheeled brainless
robots
Wheeled autonomous
robots
Legged autonomous
robots
Robot Soccer Purpose
“The number one goal of [robot
soccer] is not winning or losing, but
accumulating diverse technology.”
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- Mr. Dao (Senior VP of Sony
Corporation).
Robot Soccer
Competitions
Robot Soccer?
Robot Soccer competitions proposed to
help collaborate and evaluate various
approaches:
Software, hardware, electronics, sensors,
motors, theories.
Difficult problem, challenge for top
universities and industries
FIRA & RoboCup
History
Category
Integrating various
technologies
Autonomous agents
Collaboration of agents
Strategy acquisition
Real-time information processing
Mobile robotics and robot vision
Hardware and software technologies
FIRA
Index
Introduction
FIRA & Robocup
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History
Category
Discussion Issues
PSU soccer robot projects
4th FIRA Robot Soccer World
Cup Winners
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Notre Dame school, Campinas, Brazil (Aug 4-8,
1999)
MiroSot
 1st : RobotIS (Korea)
 2nd : SIOR (Korea)
 3rd : SOTY IV (Korea)
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NaroSot
 1st : RobotIS (Korea)
 2nd : Y2K2 (Korea)
 3rd : Olympus (Korea)
RoboCup-99 Stockholm Winners
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Stockholm City Conference Center, Stockholm, Sweden
(Jul.27 - Aug. 6, 1999)
Conjunction with IJCAI-99
Simulation League
 1st : CMUnited-99 (USA)
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Small Size League
 1st : The Big Red (USA)
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Middle Size League
 1st : CS Sharif (Iran)
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Sony Legged Robot League
 1st : Les 3 Mousquetaries (France)
FIRA
History
1995 - Idea of Robot Soccer
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Prof. Jong-Hwan Kim (KAIST)
Micro-Robot World Cup Soccer Tournament (MiroSot)
Int. Organizing Committee for MiroSot (Sep., 1995)
Pre-meeting on MiroSot
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Jul. 29 - Aug. 4, 1996, KAIST
30 teams from 13 countries
Clear shape of MiroSot Rule
FIRA
history
1st MiroSot
Nov. 9 - 12, 1996, KAIST
23 teams from 10 countries
MiroSot
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Newton Research Lab. (USA)
Single-MiroSot (S-MiroSot)
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Carnegie Mellon United Team (USA)
Formulation of Soccer Robot
FIRA
history
2nd MiroSot
Jun. 1 - 5, 1997, KAIST
22 teams from 9 countries
MiroSot
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Newton Research Lab. (USA)
OverDrive (MR, KAIST)
S-MiroSot
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UFO (MaroTech, Korea)
MIRAGE (KAIST)
Development of vision technology
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Vision - 30(60) frames/sec.
Beginning of FIRA
FIRA
history
FIRA Robot World Cup
FIRA Robot World Cup ‘98
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Jun. 30 - Jul. 3, 1998, La Cite de Sciences Industrie, Paris, France
NaroSot (Nano-Robot World Cup Soccer Tournament)
 1st : MIRO III (KAIST)
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S-KheperaSot (Khepera Robot)
 1st : STATIC, (Univ. of Aarhus, Denmark)
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MiroSot
 Four FIRA regional championships
 1st : The Keys (Human Interface Inc., Korea)
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Development of vision & motor technology
 vision - 60 frames/sec
 motor - 2m/sec
FIRA Robot World Cup ‘99
FIRA
MiroSot
NaroSot
KheperaSot
RaroSot
Category
FIRA
category
MiroSot
3 robots on 1 team
Size : 7.5cm * 7.5cm *
7.5cm
Ball : orange golf ball
Playground : black wooden
rectangular playground
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(150cm * 130cm * 5cm)
Vision : global vision system
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(more than 2m above
playground)
Experimental Setup
of the Vision System
Control panel
FIRA
category
NaroSot
5 robots on 1 team
Size : 4cm * 4cm * 5.5cm
Ball : orange table-tennis ball
Playground , Vision : same as Mirosot
FIRA
category
KheperaSot
3 robots on 1 team
Ball : yellow tennis ball
Playground : green playground (105cm * 68cm * 20cm)
Robot : Khepera Robot
Vision : K213 Vision Turret
FIRA
category
RoboSot
3 robots on 1 team
Size : 15cm * 15cm * 30cm
Ball : red roller-hockey ball
Playground : black wooden rectangular playground
(220cm * 150cm * 30cm)
Vision : on the robot
Under preparation
RoboCup
A project directed by Carnegie Mellon University
(CMU)
Robot World Cup Soccer Games and Conferences
Robots working, playing, and competing against
each other
Revolution in science and entertainment
Breakthrough in the fields of robotics and AI
Goal: to culminate all the challenges in AI like
temporal reasoning, machine learning, vision
processing, obstacle avoidance, perception,
cognition and motion control
Started in 1993…….
In RoboCup 1999 there were more than 1500
researchers actively participating within the
RoboCup initiative.
… and the number is still increasing.
Leagues of RoboCup
Simulator League
Small Robot League
Full Set Small Robot League, which is 11 robots per
team (F-180)
Middle Size Robot League (F2000)
Legged Robot Games
Sony Legged Robot League (Sponsored by Sony)
Humanoid League (From 2002, demonstration may
take place before 2002)
TeleOperation Track (to be announced)
RoboCup Commentator Exhibition, Related Competitions
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(rescue, actors, etc).
Various levels
real robot leagues
software agent league
special skill competition
Robocup
History
Jun. 1993 - Robot J-League
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Minoru Asada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki Kitano(SONY)
Robot World Cup (RoboCup)
Sep. 1993 - first public announcement
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Minour Asada, Manuela Veloso(CMU)
1995 - first simulator for soccer games
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Itsuki Noda(ETL)
C++ version soccer server v1.0
IJCAI-95 : first public demonstration
1996 - Pre-RoboCup-96
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Nov. 4-8, 1996, Osaka, IROS-96
8 teams for simulation league, demonstration of middle size league
History
RoboCup-1997 Nagoya, Japan, IJCAI 97
RoboCup-1998 Paris, France, MAAMAW
AI*IA, Padova, Italy, September 1998
RoboCup-1999 Stockholm, IJCAI 99
RoboCup Euro 2000 Amsterdam
RoboCup-2000 Melbourne
RoboCup Japan Open 2001 Fukuoka
RoboCup German Open 2001 Paderborn
RoboCup-2001 Seattle, USA
RoboCup 97 Nagoya
Aug 23 - 29, 1997, Nagoya, Japan
Conjuction with IJCAI-97
Simulator league
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33 teams: USA=8, Europe=8, Australia=2, Japan=15
1st : AT Humboldt (Humboldt Univ., Germany)
Small size robot league
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4 teams : USA, France, Spain, Japan
1st : CMUnited (CMU, USA)
Middle size robot league
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5 teams : USA, Australia, Japan
1st : Dreamteam (USC, USA), Trakies(Osaka Univ., Japan)
Expert Robot Exhibit
RoboCup 98 Paris
Jul. 2-9, 1998, La Cite de Sciences Industrie, Paris, France
Conjunction with ICMAS-98
Middle size league
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1st : CS-Freiberg, Germany
Small size league
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1st : CMUnited98 (CMU, USA)
Simulator league
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1st : CMUnited98 (CMU, USA)
Exhibitions
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Full set small size robot league (11 robots)
Legged robot game
LEGO robot football demonstration
Webot simulator league
Simulation
League
Simulator League:
Simplified problem …
World is two-dimensional.
Players are points.
Simplified control of movements
No collisions and conflict solving.
Simulation of soccer using artificial
intelligence programs.
Each team consists of eleven autonomous software
players.
Sophisticated rules apply in this league.
Simulation League
Each Team consisting of 11 programs, each controlling
1 of 11 simulated team members
The game takes place on a soccer software server
Motion, energy and distributed sensing capabilities are
resource bounded
Time 11 minutes
Communication is available between players and strict
rules are enforced e.g. offsides
Mainly for researchers interested in complex multiagent reasoning and learning issues but don’t have
the resources for building real robots
Simulation League
Client-server system
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Server : virtual field
Client : brain, control
Communication : UDP/IP
Open system
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Clients can be written by
any programming systems.
SoccerServer
SoccerMonitor
Architecture
...
Blue
Coach
coach
Blu
...
Server
...
...
Red
Coach
coach
Rosso
Arbitro
Human
arbiter
umano
Simulator League:
Example - University team
Entirely written in Java.
Is built upon mainly decision trees
10-15 threads running per player… however
most of the time the threads is a sleep.
Approx. 22 000 lines of code, and
increasing!
Written by 4 persons
SmallSize
League
Small-Size League (F-180)
Field: 2.7 m x 1.5 m
Size
Area : 18cm rule (fit inside in 18cm diameter cylinder)
Height : 15cm (global vision), 22.5cm (otherwise)
teams of autonomous small size robot
play soccer game on a field equivalent
to a ping-pong table.
Each team consists of 5 robots.
Small size league
The field is the size and color of a Ping Pong table
orange golf ball
Robots
move at
speeds
as high
as 2
meters/s
econd
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Global
vision
is
allowed
Robot Soccer Initiative
Vision system
Host
computer
Communication
System
Host
computer
Communication
System
Robots on the
playing field
“Brainless” System
Basic Architecture for Robot Soccer Systems
Vision System
Vision : global vision system
(more than 3m above ground)
Small-Size League
20 minutes, 2 breaks
Real Robot Small-Size League Competition
MiddleSize
League
Middle-size Real Robot League
(F-2000):
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The field is the size and color of a 3 x 3
arrangement of Ping Pong tables (9-3 5-meter
field)
Each team consists of 5 robots playing with a
Futsal-4 ball (4 players, one goal-keeper)
Larger (50 centimeters in diameter) robots
Global vision is not allowed.
 Each robot has its own vision system
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Goals are colored
Field is surrounded by walls to allow for
distributed localization through robot sensing
Rule structure based on the official FIFA rules
Medium size league
Teams of autonomous mid size robots
Real Robot Middle-Size League Competition
Ball : red small soccer
ball (FIFA standard size 4
or 5)
Playground : green
playground (10m * 7m *
0.5m)
Medium Size League
Medium Size League
Robots can be heterogenous
Middle-Size
League
Sony
Legged
Robot
League
Sony Legged Robot League
3 robots on 1 team (including the goalkeeper).
Robot : AIBO ERS-110 (provided by Sony)
No communication, autonomous robots, software
only. Legged Robot League. 2.8 m x 1.8 m
2 players and 1 goal-keeper in a team
Sony Legged Robot League
Is played on a field, approx 3x2 meter
Sony develops the robots, and provides a
interface for the programming of the robots.
•No Hardware
modification is
allowed
Playing time is
10 minutes per
half, with a 10
minute break at
halftime
Do different Robots have
different personalities?
Some teams have robots with very
different capabilities.
But it is hard to think of them as
having personalities;
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rather the robots have different
playing styles.
Early Sony prototype
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Robot movements closely mirror those of
animals
•The winner is the team
that scores the most
goals.
• In the event of a tie, a
sudden death penalty
kick competition will
determine the winner
The Legged Robot League
The Legged Robot League
If opposing teams'
robots are damaged or
play is excessively
rough (whether
intentional or not),
penalties may be
assessed to the
offending robot
System Comparisons
Merits
Demerits
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Remote-brainless
system
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Robot -based
system
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Low cost
Easy to develop
Suitable for many agents
Can use local information
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Brain-on-board
system
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Suitable to modularize
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Cannot use local sensors
High computing power
& fast sampling time
Complex and expensive
robots.
Hard to build the system
Risk of inconsistent
property between host
computer and robot system
Research purpose
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Vision system
Multi-agent theory
Robot system
Multi-agent system
development
Robot-based and
vision-based systems
Humanoid
League
Starting 2002, the humanoid league
Humanoid League
Bi-Ped League
(Humanoid)
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Australia
Japan
RobotCupRescue
RoboCup-Rescue Simulation Project is a new practical domain
of RoboCup
A new initiative on search and rescue for large scale disasters
A generic urban disaster simulation environment constructed on
network computers
Heterogeneous intelligent agents such as fire fighters,
commanders, victims, volunteers, etc. conduct search and
rescue activities in this virtual disaster world
Goal: to enlighten citizens about accurate damage predictions,
decision support in real disasters, and emergence of better
disaster prevention strategies
RobocupJunior
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Initiative to promote educational aspects regarding RoboCup and
advanced robotics topics
children below 18 years old participate in the RoboCup-Junior games
promotes participation by under-graduates, non-science graduates and
general public, who are interested in RoboCup, but do not have the
effort to get involved in the RoboCup World Cup games
Competitors
Simulation
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Japan
Iran
Singapore
USA
Russia
Germany
Romania
Portugal
Catalonia
Italy
England
Finland
Sweden
Australia
F-180 (Small Size)
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Australia
Belgium
Catalonia
China
Denmark
Germany
Japan
Korea
New Zealand
Portugal
Singapore
USA
F-2000 (Middle Size)
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Italy
Australia
Germany
Iran
Japan
Portugal
Singapore
USA
Sony Four Legged
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USA
France
Japan
Australia
USA
Canada
Germany
Sweden
Italy
England
Champions:
Champions:
Champions:
Champions:
1 Portugal
1 USA, Cornell
1 Germany
1 Australia
2 Germany
2 Germany
2 Italy
2 France
3 USA, CMU
3 Singapore
3 Iran
3 USA, CMU
Online References
http://www.robocup.org
http://www.robocup2000.org
http://world.sony.com/dream/robocup/robocup2000/
http://robomec.cs.kobe-u.ac.jp/robocup-rescue/
http://www.artificialia.com/RoboCupJr/
http://www.namultimedia.com/robocup/
http://parrotfish.coral.cs.cmu.edu/robocup-small/
http://owl.informatik.uni-ulm.de/ROBOCUP/
Problems
1. Propose other robot sports in addition to
soccer and sumo. Wrestling? Volleyball?
Fencing? Write the rules and design a robot to
play them. What will be technical and what will
be the scientific challenge.
2. Design the rules for walking robots playing
soccer. Design the field. How to control the
camera. Do we need sensors and for what?
Where are they located?