• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.197-206
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• 2000

A hybrid control structure for vision-based soccer robot system is considered. The structure is om-posed of four levels such as the role action behavior and execution levels. The control structure which is a combination of hierarchical and behavioral structures can efficiently meet the behavior and design specifications of a soccer robot system Among the four levels only the design of the action level is proposed in the paper and is experimentally evaluated. Design hypothesis and evaluation method are presented to improve the reliability and accomplishment of the robot system. Due to the essential element of soccer robot system design a systematic design procedure of the action level is proposed With the proposed structure and algorithm of the action level the excellent result was shown at the MiroSot'98 held in France.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.154-154
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• 2000

The cooperative strategy for the teleoperated multi-agent system is presented. And this scheme has been applied to the teleoperated robot soccer system that is newly proposed. For the teleoperated robot soccer system, we made mapping functions to control a 2-wheeled mobile robot using a 2 DoF stickcontroller. The simulation with a real stickcontroller has been evaluated the performance of the proposed mapping function. Then, the basic cooperation strategy has been tested between teleoperated robot and autonomous robot It is shown that the multi-agent system for teleoperation can have a good performance for a job Like a scoring a goal

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2023-2028
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• 2004

This paper reveals the utilization of the multi-gent system that based on the Blackboard system basis as the controller of Soccer Robot. This system is a portion of developing the Soccer Robot team for Robocup 2004 Competition. In this development, the intelligent control system was initiated by the combination of parallel and distributed blackboard structures with the principle design that generated from human body structures, which consists of the combination of two main systems, the organs system and the brain system. The system is designed using the control system theory based on Blackboard basis. Modification of the initial structures to corroborate the Soccer Robot and the structure's constituents are clarified accordingly. To demonstrate the idea, ITE-old team is given as a case study.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1169-1170
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.621-624
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• 1997

This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.1
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• pp.9-15
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• 2009

In this paper, a network based robot soccer system is proposed. The system consists of robots, an image processing sub-system, a game server, and client systems. Embedded technique is applied to the hardware and software for controlling the robots and image processing. In this robot soccer system, a gamer can see and control robots in a remote site through Internet. During the game, the game server gives geometrical information on robots such as positions and orientations. We demonstrated the game in public and obtained optimistic results even though some technical problemssuch as communication delay and precise control for the robots should be improved.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.236-242
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• 2003

This paper presents a cooperation strategy between a human operator and autonomous robots for an interactive robot soccer game, The interactive robot soccer game has been developed to allow humans to join into the game dynamically and reinforce entertainment characteristics. In order to make these games more interesting, a cooperation strategy between humans and autonomous robots on a team is very important. Strategies can be pre-programmed or learned by robots themselves with learning or evolving algorithms. Since the robot soccer system is hard to model and its environment changes dynamically, it is very difficult to pre-program cooperation strategies between robot agents. Q-learning - one of the most representative reinforcement learning methods - is shown to be effective for solving problems dynamically without explicit knowledge of the system. Therefore, in our research, a Q-learning based learning method has been utilized. Prior to utilizing Q-teaming, state variables describing the game situation and actions' sets of robots have been defined. After the learning process, the human operator could play the game more easily. To evaluate the usefulness of the proposed strategy, some simulations and games have been carried out.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.608-611
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• 1997

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Variable zone defense as a basic strategy and several special strategies for fouls are applied to SOTY2 team.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.1
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• pp.156-161
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• 2009

This paper proposes a new method about performance improvement of soccer robots system by the revision of lens distortion most commonly occurred in camera and the revision of position and angle error in robot patch for the realization of robot position. Among the lens distortions, we revise geometrical distortion and apply it to soccer robots system for realtime environment. Patch used in the recognition and the distinction for coordination and direction of robot occurs a position and angle error according to the figure of it. In this paper, we suggest the method of reduction for position and angle error of robot by improved patch and verify its propriety through the experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.975-978
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• 2003

This paper presents an artificial intelligent model for a soccer robot. We classified soccer robot as artificial intelligent model into three elemental groups as instinct, intuition, reason. Instinct is responsible for keeping the ball, driving or rushing toward the ball. This is very simple fundamental action without regard to associates and enemies. Intuition contributes to the fast/slow moving and simple basic turing to get near to the ball and to make a goal noticing associates and enemies. Reason is the most intelligent part. The law of reason is not simple relatively with instinct and intuition. We also compared nerve system and muscles of human being model with controller and motor of physical soccer robot model individually. We had designed several algorithms and made programs th investigate effects and control soccer robot.