RoboCup 2014: Robot World Cup XVIII

723 Pages·2015·105.37 MB·English

by  Reinaldo A. C. Bianchi

Reinaldo A.C. Bianchi
H. Levent Akin
Subramanian Ramamoorthy
Komei Sugiura (Eds.)
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RoboCup 2014:
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Lecture Notes in Arti cial Intelligence 8992
Subseries of Lecture Notes in Computer Science
LNAI Series Editors
Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor
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DFKI and Saarland University, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/1244
Reinaldo A.C. Bianchi H. Levent Akin
(cid:129)
Subramanian Ramamoorthy Komei Sugiura (Eds.)
(cid:129)
RoboCup 2014:
Robot World Cup XVIII
123
Editors
ReinaldoA.C. Bianchi Subramanian Ramamoorthy
FEI University University of Edinburgh
SãoBernardo doCampo Edinburgh
Brazil UK
H.LeventAkin KomeiSugiura
BoğaziçiUniversity National Institute ofInformation
Istanbul andCommunications Technology
Turkey Kyoto
Japan
ISSN 0302-9743 ISSN 1611-3349 (electronic)
Lecture Notesin Artificial Intelligence
ISBN 978-3-319-18614-6 ISBN978-3-319-18615-3 (eBook)
DOI 10.1007/978-3-319-18615-3
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Preface
TheRoboCup–RobotWorldCup–2014tookplaceattheConventionCenter“Poeta
Ronaldo Cunha Lima” in João Pessoa, Brazil, from July 19–24. The RoboCup 2014
competitionhadatotalof2,631participantsfrom45countriesintheMajorandJunior
leagues. If we consider also the exhibitors, staff, local organization, and volunteers,
RoboCup2014hadmorethan2,900participants.Approximately100,000visitorsfrom
differentBrazilianstatesattendedRoboCup2014duringthefivedaysthatitwasopen
to the general public.
The18thannualRoboCupInternationalSymposiumwasheldinthesamevenue,on
July 25th, and was attended by more than 800 members of the RoboCup Community.
We also had 186 students from Brazilian universities, attending only the RoboCup
Symposium.
For the 18th RoboCup International Symposium, we received a total of 66 regular
paper submissions, which were reviewed carefully by the International Program
Committee, consisting of 54 members. Each paper was reviewed by at least three
reviewers. Overall, we accepted 36 of those (54%), of which 10 were chosen for oral
presentation.
Besidestheregularpapers,thisyearwehadthreespecialtracks:ChampionTeams,
Open Source Development, and Advancement of the RoboCup Leagues Tracks.
The Champion Teams Papers Track contains 11 papers written by the teams who
wonthecompetition.Thistrackisusedtodocumentanddisseminatethestateoftheart
in each League, and to introduce new ideas and promising technologies.
The Open Source Software and Hardware Development Track was introduced in
2013.Thistrackencouragesthesharingoftechnology,softwareimplementations,and
hardware projects among RoboCup researchers. This year we had three papers pub-
lished in this track, including one that won the Best Paper Award for its engineering
contribution, selected from among all papers submitted to the Symposium.
This year we introduced a new track to the Symposium: the Special Track on the
Advancement of RoboCup Leagues. The aim of this track was to foster discussion on
the future of RoboCup, league by league, with focus on changes in the next year and
plans for future. Two panel discussions were held, one about the soccer leagues and
another about the application leagues. The results of these discussions are reported in
nine papers published in this book.
We also had two invited speakers: Rodney Brooks, Professor emeritus at MIT,
roboticsentrepreneurandFounder,ChairmanandCTOofRethinkRobotics;andSami
Haddadin, Full professor and director of the Institute of Automatic Control (IRT) at
Leibniz University Hanover. Professor Brooks’ talk was about the Challenges for
RoboticsResearch,whichinvolvehavingrobotsthatareabletosupporthumansociety
in the future, and making progress in three areas of research: Mobility, Manipulation,
andMessiness.ProfessorHaddadin’stalkwasalsofocusedontheinteractionbetween
robots and humans: he described his work on human-centered robot design, control,
VI Preface
and planning, which may lead to robots that can safely act as human assistants and
collaborators over a variety of application domains.
The award committee selected two papers, printed first in the book, as best papers:
– The Best Paper Award for its Scientific Contribution: Balanced Walking with
Capture Steps, by Marcell Missura and Sven Behnke.
– TheBestPaperAwardforitsEngineeringContribution:RoboCup@HomeSpoken
Corpus: Using Robotic Competitions for Gathering Datasets, by Emanuele
Bastianelli, Luca Iocchi, Daniele Nardi, Giuseppe Castellucci, Danilo Croce, and
Roberto Basili.
Finally, we would like to thank the chairs of RoboCup 2014, Flavio Tonidandel,
Esther Luna Colombini, Alexandre da Silva Simões, and all the members of the
Organizing Committee who brought together this splendid event; the Program Com-
mitteeMembersandadditionalreviewers,whoensuredthequalityofthecontributions
assembled in this book; and finally, all the participants and authors, for making this
event a huge success.
March 2015 Reinaldo A.C. Bianchi
H. Levent Akin
Subramanian Ramamoorthy
Komei Sugiura
Organization
Symposium Co-chairs
Reinaldo A.C. Bianchi FEI University, Brazil
H. Levent Akin Boğaziçi University, Turkey
Subramanian Ramamoorthy The University of Edinburgh, UK
Komei Sugiura National Institute of Information
and Communications Technology, Japan
Program Committee
Hidehisa Akiyama Fukuoka University, Japan
Luís Almeida University of Porto, Portugal
Jacky Baltes University of Manitoba, Canada
Sven Behnke University of Bonn, Germany
Ansgar Bredenfeld Dr. Bredenfeld UG, Germany
Xiaoping Chen University of Science and Technology of China,
China
Esther Luna Colombini FEI University, Brazil
Anna Helena Reali Costa University of São Paulo, Brazil
Bernardo Cunha University of Aveiro, Portugal
Klaus Dorer Offenburg University of Applied Sciences,
Germany
Amy Eguchi Bloomfield College, USA
Bernhard Hengst University of New South Wales, Australia
Dirk Holz University of Bonn, Germany
Nobuhiro Ito Aichi Institute of Technology, Japan
Jianmin Ji University of Science and Technology of China,
China
Gerhard Kraetzschmar Bonn-Rhein-Sieg University of Applied Sciences,
Germany
Tim Laue DFKI Bremen, Germany
Pedro U. Lima Instituto Superior Técnico, Portugal
Luis F. Lupian La Salle University, México
Norbert Michael Mayer National Chung Cheng University, Taiwan
Çetin Meriçli Carnegie Mellon University, USA
Tekin Meriçli Boğaziçi University, Turkey
Zhao Mingguo Tsinghua University, China
Eduardo Morales National Institute for Astrophysics, Optics
and Electronics, México
VIII Organization
Itsuki Noda National Institute of Advanced Industrial Science
and Technology, Japan
Luis Paulo Reis University of Minho, Portugal
Fernando Ribeiro University of Minho, Portugal
Thomas Röfer DFKI Bremen, Germany
Raul Rojas Free University of Berlin, Germany
Javier Ruiz-del-Solar University of Chile, Chile
Paulo E. Santos FEI University, Brazil
Sanem Sariel-Talay Istanbul Technical University, Turkey
Jesus Savage National Autonomous University of Mexico,
México
Alexandre Simões São Paulo State University UNESP, Brazil
Elizabeth Sklar University of Liverpool, UK
Domenico G. Sorrenti University of Milan-Bicocca, Italy
Mohan Sridharan Texas Tech University, USA
Gerald Steinbauer Graz University of Technology, Austria
Peter Stone University of Texas at Austin, USA
Luis Enrique Sucar National Institute for Astrophysics,
Optics and Electronics, México
Yasutake Takahashi University of Fukui, Japan
Flavio Tonidandel FEI University, Brazil
Manuela Veloso Carnegie Mellon University, USA
Ubbo Visser University of Miami, USA
Arnoud Visser University of Amsterdam, The Netherlands
Oskar von Stryk Technical University of Darmstadt, Germany
Alfredo Weitzenfeld University of South Florida, USA
Feng Wu University of Southampton, UK
Rong Xiong Zhejiang University, China
Sponsoring Institutions
The National Council for Technological and Scientific Development – CNPq, Brazil.
Coordination for the Improvement of Higher Education Personnel – CAPES, Brazil.
Contents
Best Paper Award for its Scientific Contribution
Balanced Walking with Capture Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Marcell Missura and Sven Behnke
Best Paper Award for its Engineering Contribution
RoboCup@Home Spoken Corpus: Using Robotic Competitions
for Gathering Datasets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Emanuele Bastianelli, Luca Iocchi, Daniele Nardi, Giuseppe Castellucci,
Danilo Croce, and Roberto Basili
Champion Teams
UT Austin Villa: RoboCup 2014 3D Simulation League Competition
and Technical Challenge Champions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Patrick MacAlpine, Mike Depinet, Jason Liang, and Peter Stone
ZJUNlict: RoboCup 2014 Small Size League Champion . . . . . . . . . . . . . . . 47
Chuan Li, Rong Xiong, Zeyu Ren, Wenjian Tang, and Yue Zhao
Tech United Eindhoven, WinnerRoboCup 2014 MSL: Middle Size League. . . 60
Cesar Lopez Martinez, Ferry Schoenmakers, Gerrit Naus, Koen Meessen,
Yanick Douven, Harrie van de Loo, Dennis Bruijnen, Wouter Aangenent,
Joost Groenen, Bob van Ninhuijs, Matthias Briegel, Rob Hoogendijk,
Patrick van Brakel, Rob van den Berg, Okke Hendriks, René Arts,
Frank Botden, Wouter Houtman, Marjon van’t Klooster,
Jeroen van der Velden, Camiel Beeren, Lotte de Koning, Olaf Klooster,
Robin Soetens, and René van de Molengraft
RoboCup SPL 2014 Champion Team Paper. . . . . . . . . . . . . . . . . . . . . . . . 70
Jayen Ashar, Jaiden Ashmore, Brad Hall, Sean Harris, Bernhard Hengst,
Roger Liu, Zijie Mei (Jacky), Maurice Pagnucco, Ritwik Roy,
Claude Sammut, Oleg Sushkov, Belinda Teh, and Luke Tsekouras
CITBrainsKidSizeRobot:RoboCup2014BestHumanoidAwardWinner..... 82
Yasuo Hayashibara, Hideaki Minakata, Kiyoshi Irie, Taiki Fukuda,
Victor Tee Sin Loong, Daiki Maekawa, Yusuke Ito, Takamasa Akiyama,
Taiitiro Mashiko, Kohei Izumi, Yohei Yamano, Masayuki Ando, Yu Kato,
Ryu Yamamoto, Takanari Kida, Shinya Takemura, Yuhdai Suzuki,
Nung Duk Yun, Shigechika Miki, Yoshitaka Nishizaki, Kenji Kanemasu,
and Hajime Sakamoto