Football is coming home

Most of the robots in the ROBOCUP soccer league are made especially for the task of playing soccer. They use methods that are specifically designed for the soccer domain and would perhaps fail in other robotic testbeds such as the newly established ROBOCUP@HOME league without making fundamental changes throughout their entire software system. In contrast, our robots and the control software were designed with a broader field of application in mind. This paper sketches our way from the soccer application to the ROBOCUP@HOME league.

[1]  Anthony G. Cohn,et al.  A Spatial Logic based on Regions and Connection , 1992, KR.

[2]  Hector J. Levesque,et al.  GOLOG: A Logic Programming Language for Dynamic Domains , 1997, J. Log. Program..

[3]  J. Sack,et al.  Handbook of computational geometry , 2000 .

[4]  Alexander Ferrein,et al.  Towards a League-Independent Qualitative Soccer Theory for RoboCup , 2005, RoboCup.

[5]  Wolfram Burgard,et al.  Monte Carlo localization for mobile robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[6]  Alexander Ferrein,et al.  Acting and Deliberating using Golog in Robotic Soccer — A Hybrid Architecture — , 2002 .

[7]  Hector J. Levesque,et al.  ConGolog, a concurrent programming language based on the situation calculus , 2000, Artif. Intell..

[8]  Gerhard Lakemeyer,et al.  ccGolog -- A Logical Language Dealing with Continuous Change , 2003, Log. J. IGPL.

[9]  Alexander Ferrein,et al.  Using Golog for Deliberation and Team Coordination in Robotic Soccer , 2005, Künstliche Intell..

[10]  Bernhard Nebel,et al.  On the Complexity of Qualitative Spatial Reasoning: A Maximal Tractable Fragment of the Region Connection Calculus , 1999, Artif. Intell..

[11]  Alexander Ferrein,et al.  Qualitative World Models for Soccer Robots , 2006 .

[12]  Eliseo Clementini,et al.  Qualitative Representation of Positional Information , 1997, Artif. Intell..

[13]  Franz Aurenhammer,et al.  Voronoi Diagrams , 2000, Handbook of Computational Geometry.

[14]  J. McCarthy.  Situations, Actions, and Causal Laws , 1963 .

[15]  Kuo-Liang Chung,et al.  An Efficient Randomized Algorithm for Detecting Circles , 2001, Comput. Vis. Image Underst..

[16]  Ray Reiter,et al.  On knowledge-based programming with sensing in the situation calculus , 2001, ACM Trans. Comput. Log..

[17]  Alexander Ferrein,et al.  On-Line Decision-Theoretic Golog for Unpredictable Domains , 2004, KI.

[18]  Eliseo Clementini,et al.  Qualitative Distances , 1995, COSIT.

[19]  Alexander Ferrein,et al.  Specifying multirobot coordination in ICPGolog from simulation towards real robots , 2003 .

[20]  Mei-Yuh Hwang,et al.  The SPHINX-II speech recognition system: an overview , 1993, Comput. Speech Lang..

[21]  Andrew U. Frank,et al.  Spatial Information Theory A Theoretical Basis for GIS , 1993, Lecture Notes in Computer Science.

[22]  Alexander Ferrein,et al.  Laser-Based Localization with Sparse Landmarks , 2005, RoboCup.

[23]  Henrik Grosskreutz,et al.  Probabilistic Projection and Belief Update in the pGOLOG Framework , 2000, GI Jahrestagung.

[24]  Hans P. Moravec,et al.  High resolution maps from wide angle sonar , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[25]  Raymond Reiter,et al.  Logical Foundations for Cognitive Agents: Contributions in Honor of Ray Reiter , 2001 .

[26]  Hector J. Levesque,et al.  An Incremental Interpreter for High-Level Programs with Sensing , 1999 .

[27]  Craig Boutilier,et al.  Decision-Theoretic, High-Level Agent Programming in the Situation Calculus , 2000, AAAI/IAAI.