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FIRA-ROBOCUP

VIEWS: 84 PAGES: 24

									FIRA vs. RoboCup

  CS492a Lecture Note

      by Rhee, Taik-heon
Computer Science Department
          KAIST
                        Index
   Introduction
   FIRA & Robocup
      History
      Category

   Discussion Issues
   Summary
                        Introduction
   4th FIRA Robot Soccer World Cup
      NotreDame school, Campinas, Brazil (Aug 4-8, 1999)
      MiroSot
         1st : RobotIS (Korea)
         2nd : SIOR (Korea)
         3rd : SOTY IV (Korea)
      NaroSot
         1st : RobotIS (Korea)
         2nd : Y2K2 (Korea)
         3rd : Olympus (Korea)
                         Introduction
   RoboCup-99 Stockholm
      Stockholm   City Conference Center, Stockholm, Sweden
       (Jul.27 - Aug. 6, 1999)
      Conjunction with IJCAI-99
      Simulation League
          1st : CMUnited-99 (USA)
      Small Size League
          1st : The Big Red (USA)
      Middle Size League
          1st : CS Sharif (Iran)
      Sony Legged Robot League
          1st : Les 3 Mousquetaries (France)
               FIRA & RoboCup
   History
   Category
FIRA
                              History
   1995 - Idea of Robot Soccer
      Prof. Jong-Hwan Kim (KAIST)
      Micro-Robot World Cup Soccer Tournament (MiroSot)
      Int. Orignizing Committee for MiroSot (Sep., 1995)


   Pre-meeting on MiroSot
      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 for 10 countries
   MiroSot
      Newton   Research Lab. (USA)
   Single-MiroSot (S-MiroSot)
      Carnegie   Mellon United Team (USA)


   Formulation of Soccer Robot
 FIRA
history                     2nd MiroSot
   Jun. 1 - 5, 1997, KAIST
   22 teams for 9 countries
   MiroSot
      Newton Research Lab. (USA)
      OverDrive (MR, KAIST)

   S-MiroSot
      UFO (MaroTech, Korea)
      MIRAGE (KAIST)


   Development of vision technology
      Vision   - 30(60) frames/sec.
   Beginning of FIRA
 FIRA
history         FIRA Robot World Cup
   FIRA Robot World Cup ‘98
      Jun. 30 - Jul. 3, 1998, La Cite de Sciences Industrie, Paris, France
      NaroSot (Nano-Robot World Cup Soccer Tournament)
          1st : MIRO III (KAIST)
      S-KheperaSot (Khepera Robot)
          1st : STATIC, (Univ. of Aarhus, Denmark)
      MiroSot
          Four FIRA regional championships
          1st : The Keys (Human Interface Inc., Korea)
      Development of vision & motor technology
          vision - 60 frames/sec
          motor - 2m/sec

   FIRA Robot World Cup ‘99
FIRA
                 Category
   MiroSot

   NaroSot

   KheperaSot

   RaroSot
  FIRA
category                 MiroSot
   3 robots on 1 team
   Size : 7.5cm * 7.5cm * 7.5cm
   Ball : orange golf ball
   Playground : black wooden rectangular playground
                  (150cm * 130cm * 5cm)
   Vision : global vision system
             (more than 2m above playground)
  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
                               History
   Jun. 1993 - Robot J-League
      MinoruAsada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki Kitano(SONY)
      Robot World Cup (RoboCup)

   Sep. 1993 - first public announcement
      Minour   Asada, Manuela Veloso(CMU)
   1995 - first simulator for soccer games
            Noda(ETL)
      Itsuki
      C++ version soccer server v1.0
      IJCAI-95 : first public demonstration

   1996 - Pre-RoboCup-96
      Nov. 4-8, 1996, Osaka, IROS-96
      8 teams for simulation league, demonstration of middle size league
                 RoboCup 97 Nagoya
   Aug 23 - 29, 1997, Nagoya, Japan
   Conjuction with IJCAI-97
   Simulator league
      33 teams: USA=8, Europe=8, Australia=2, Japan=15
      1st : AT Humboldt (Humboldt Univ., Germany)

   Small size robot league
     4  teams : USA, France, Spain, Japan
      1st : CMUnited (CMU, USA)

   Middle size robot league
     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
      1st   : CS-Freiberg, Germany
   Small size league
      1st   : CMUnited98 (CMU, USA)
   Simulator league
      1st   : CMUnited98 (CMU, USA)
   Exhibitions
          set small size robot league (11 robots)
      Full
      Legged robot game
      LEGO robot football demonstration
      Webot simulator league
                        Category
   Simulation league

   Small-size league (F-180)

   Middle-size league (F2000)

   Sony legged robot league
                  Simulation League
   Client-server system
      Server  : virtual field
      Client : brain, control
      Communication : UDP/IP

   Open system
      Clientscan be written by
       any programming systems.
                    Small-Size League
   5 robots on 1 team
   Size
      Area : 18cm rule (fit inside in 18cm diameter cylinder)
      Height : 15cm (global vision), 22.5cm (otherwise)

   Ball : orange golf ball
   Playground : table-tennis table
        (274cm * 152.5cm * 10cm)
   Vision : global vision system
    (more than 3m above ground)
                   Middle-Size League
   4 robots on 1 team (including one goalkeeper)
   Size
      Area : circle of 50cm diameter or square of length 45cm
      Height : 80cm

 Ball : red small soccer ball (FIFA standard size 4 or 5)
 Playground : green playground (10m * 7m * 0.5m)
 Global vision system is prohibited.
         Sony Legged Robot League
   3 robots on 1 team
   Robot : AIBO ERS-110 (provided by Sony)
                  Discussion Issues
   Origination



   Low Cost vs. Big Model



   Elegancy vs. Efficency
                          Summary
   FIRA
     Since1996
     MiroSot, NaroSot, KheperaSot, RoboSot



   RoboCup
     Since 1997
     Simulation league, Small size league,
      Middle size league, Sony legged robot league

								
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