• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.605-607
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• 1997

According to the way of the robot control, the robot systems of all the teams which participate in the MIROSOT can be divided into three categories : the remote brainless system, the vision-based system and the robot-based system. The MIRAGE I robot control system uses the last one, the robot-based system. In the robot-based system the host computer with the vision system transmits the data on only the location of the ball and the robots. Based on this robot control method, we took part in the MIROSOT '96 and the MIROSOT '97.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.617-620
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• 1997

We have built a robot soccer system to participate in MIROSOT97. This paper represents hardware specification of our system and our strategy. We select a centralized on-line system for a soccer game. The paper explains hardware specifications of our system for later development. Also, the paper explains our strategy from two viewpoints. From the viewpoint of cooperation, some heuristic ideas are implemented. From the viewpoint of path plan, Cubic spline is used with cost function which minimized time, radius of curvature for smoothness, and obstacle potential field. Direct comparison will be realized in MIROSOT97.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.825-827
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• 1997

This paper presents a robot which is steered by vision system. The proposed robot system has an AM188ES CPU(5.3 MIPS) and 2DC motors with encoder and turns accurately at any speed and shows a movement like a human controlled car using a steering wheel. To the robot only steering angle value is sent without considering the speed. We present how to control this robot using our real time vision system.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2998-3000
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• 1999

Robot soccer is a challenging research area in which multiple robots collaborate in adversarial environment to achieve specific objectives. We designed and built the robotic agents for robot soccer, especially MIROSOT. We have been developing the appropriate vision algorithm, algorithm for ball tracking and prediction, algorithms for collaboration between the robots in an uncertain dynamic environment. In this work we focus on the development of ball tracking and prediction algorithm using Kalman filter. Robustness and feasibility of the proposed algorithm is demonstrated by simulation.