Vision , Strategy , and Localization Using the Sony Legged Robots at RoboCup-98

and development in physical agents, namely, fully autonomous legged robots. In this article, we describe our work using Sony’s legged robots to participate at the RoboCup-98 legged robot demonstration and competition. Robotic soccer represents a challenging environment for research in systems with multiple robots that need to achieve concrete objectives, particularly in the presence of an adversary. Furthermore, RoboCup offers an excellent opportunity for robot entertainment. We introduce the RoboCup context and briefly present Sony’s legged robot. We developed a vision-based navigation and a Bayesian localization algorithm. Team strategy is achieved through predefined behaviors and learning by instruction.

[1]  R. McGhee,et al.  On the stability properties of quadruped creeping gaits , 1968 .

[2]  Robert B. McGhee,et al.  Some finite state aspects of legged locomotion , 1968 .

[3]  Alberto Elfes,et al.  Occupancy grids: a probabilistic framework for robot perception and navigation , 1989 .

[4]  J. Ross Quinlan,et al.  C4.5: Programs for Machine Learning , 1992 .

[5]  Edwige Pissaloux,et al.  A new way of image data fusion: the multi-spectral cooperative segmentation , 1995, Proceedings., International Conference on Image Processing.

[6]  Minoru Asada.  An Agent and an Environment: A View on \Having Bodies" | A Case Study on Behavior Learning for Vision-Based Mobile Robot | , 1996 .

[7]  Hiroaki Kitano,et al.  The RoboCup Synthetic Agent Challenge 97 , 1997, IJCAI.

[8]  Masahiro Fujita,et al.  An open architecture for robot entertainment , 1997, AGENTS '97.

[9]  Edwige Pissaloux,et al.  On the Evolution of Parallel Computers Dedicated to Image Processing through Examples of Some French Computers , 1997, Digit. Signal Process..

[10]  Manuela M. Veloso,et al.  Task Decomposition and Dynamic Role Assignment for Real-Time Strategic Teamwork , 1998, ATAL.

[11]  Hiroaki Kitano,et al.  Sony legged robot for RoboCup challenge , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[12]  Hiroaki Kitano,et al.  Reconfigurable physical agents , 1998, AGENTS '98.

[13]  Wolfram Burgard,et al.  The Interactive Museum Tour-Guide Robot , 1998, AAAI/IAAI.

[14]  Hiroaki Kitano,et al.  The Robocup Physical Agent Challenge: Phase I , 1998, Appl. Artif. Intell..

[15]  Peter Stone,et al.  CMUnited: a team of robotics soccer agents collaborating in an adversarial environment , 1998, CROS.

[16]  Hiroaki Kitano,et al.  Development of an Autonomous Quadruped Robot for Robot Entertainment , 1998, Auton. Robots.

[17]  Patrick Brézillon,et al.  Lecture Notes in Artificial Intelligence , 1999 .