Table Of ContentLuis Almeida
Jianmin Ji
Gerald Steinbauer
Sean Luke (Eds.)
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RoboCup 2015:
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A Robot World Cup XIX
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Lecture Notes in Arti cial Intelligence 9513
Subseries of Lecture Notes in Computer Science
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More information about this series at http://www.springer.com/series/1244
Luis Almeida Jianmin Ji
(cid:129)
Gerald Steinbauer Sean Luke (Eds.)
(cid:129)
RoboCup 2015:
Robot World Cup XIX
123
Editors
LuisAlmeida Gerald Steinbauer
University of Porto Graz University of Technology
Porto Graz
Portugal Austria
Jianmin Ji SeanLuke
University of Science andTechnology George MasonUniversity
Hefei Fairfax, VA
China USA
ISSN 0302-9743 ISSN 1611-3349 (electronic)
Lecture Notesin Artificial Intelligence
ISBN 978-3-319-29338-7 ISBN978-3-319-29339-4 (eBook)
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Preface
Thesearetheproceedingsofthe19thAnnualRoboCupInternationalSymposium,held
on July 23, 2015, at the Anhui International Conference and Exhibition Center, in
Hefei, China.
TheSymposiumisannuallycolocatedwithandassociatedwithRoboCup.RoboCup
is a venue to promote robotics and artificial intelligence by offering difficult challenge
problems in robotics, simulation, and related areas. The Symposium augments this by
providingaforumforthepresentationofscientificresearchrelatedtomanyaspectsof
robotics, artificial intelligence, computer vision, multiagent systems, simulation, and
other areas, with a special focus on the various RoboCup competitions and demon-
strations. This range of research is highly interdisciplinary, and is directly applied to
nontrivial and cutting-edge tasks in robotics. The goal of the Symposium is to show-
case important and vital work in these fields. This year RoboCup had 349 teams from
47countriesandregionsin12leagues.Overallsome3000participantsandvolunteers
were involved, with over 34,000 spectators.
At the 2015 Symposium there were two tracks: a general track and a special
developmenttrackmeanttoshowcaseopensoftwareandhardwarecontributionstothe
RoboCup community. The Symposium received a total of 39 submissions (31 in the
generaltrack,eightinthedevelopmenttrack),whichwerereviewedbythe69members
of the Program Committee. All submissions received a minimum of three and an
average offour reviews. In all, 20 papers were accepted: seven for oral presentation,
thirteen for poster presentation. Additionally, the proceedings include papers detailing
the efforts of champion teams from eleven different RoboCup competitions.
Associated with the Symposium were three other workshops and forums: the
RoboCup 2015 Industry Forum, the Workshop on Educational Robotics (WEROB
2015),andtheDemoChallengeandWorkshoponBenchmarkingServiceRobots.The
proceedings include one paper from the Benchmarking Workshop, entitled “Synthet-
ical Benchmarking of Service Robots: A First Effort on Domestic Mobile Platforms”,
by Min Cheng, Xiaoping Chen, Keke Tang, Feng Wu, Andras Kupcsik, Luca Iocchi,
Yingfeng Chen, and David Hsu.
The Symposium had four invited speakers: three keynotes and an invited presen-
tation from AAAI-15. The presenters were:
– Wen Gao is Professor in the School of Electrical Engineering and Computer Sci-
ence at Peking University. His presentation was entitled “A Smart Vision System
for Robot Navigation”.
– Yuki Nakagawa is founder and CEO of RT Corporation, which develops robotic
systems.Herpresentationwasentitled“ForceManagementforArticulatedRobots”.
– Daniel Lee is Professor and director of the GRASP Lab in the Department of
Electrical and Systems Engineering, at the University of Pennsylvania. His pre-
sentation was entitled “Machine Learning for Robots: Perception, Planning and
Motor Control”.
VI Preface
– TheinvitedAAAI-15presentation,aimingatstrengtheningtiesbetweenAAAIand
the RoboCup Federation, was “From Goals to Behaviors: Automating the Search
for Goal-Achieving Finite State Machines”, by Siddharth Srivastava, and it was
based on the AAAI-15 paper “Tractability of Planning with Loops”, by Siddharth
Srivastava,ShlomoZilberstein,AbhishekGupta,PieterAbbeel,andStuartRussell.
This year the Symposium offered two awards, one for Best Science Paper and one
for Best Engineering Paper:
– The Best Science Paper award was shared by two papers. The first was
“Language-BasedSensingDescriptorsforRobotObjectGrounding”,byGuglielmo
Gemignani, Manuela Veloso, and Daniele Nardi. The second was “Interactive
Learning of Continuous Actions from Corrective Advice Communicated by
Humans”, by Carlos Celemin and Javier Ruiz-del-Solar.
– The Best Engineering Paper award went to “Evaluation of the RoboCup Logistics
League and Derived Criteria for Future Competitions”, by Tim Niemueller,
Sebastian Reuter, Alexander Ferrein, Sabina Jeschke, and Gerhard Lakemeyer.
We would like to thank the Program Committee members, participants, and other
reviewers for their efforts in making the Symposium a reality. Finally, we thank the
general chair of RoboCup 2015, Xiaoping Chen, and the associate chairs, Wan-Mi
Chen,FeiLiu,FengWu,andShiLi,fortheirhardworkandleadership.Wehopetosee
you all at RoboCup 2016.
December 2015 Luis Almeida
Jianmin Ji
Gerald Steinbauer
Sean Luke
Organization
Symposium Co-chairs
Luis Almeida IT/University of Porto, Portugal
Jianmin Ji University of Science and Technology of China
Gerald Steinbauer Graz University of Technology, Austria
Sean Luke George Mason University, USA
Program Committee
Levent Akin Bogazici University, Turkey
Hidehisa Akiyama Fukuoka University, Japan
Jacky Baltes University of Manitoba, Canada
Bikramjit Banerjee University of Southern Mississippi, USA
Sven Behnke University of Bonn, Germany
Reinaldo A.C. Bianchi Centro Universitario da FEI, Brazil
Joydeep Biswas Carnegie Mellon University, USA
Ansgar Bredenfeld Dr. Bredenfeld UG, Germany
Esther Colombini Aeronautics Institute of Technology, Brazil
Anna Helena Reali Costa University of Sao Paulo, Brazil
Bernardo Cunha University of Aveiro, Portugal
Klaus Dorer University of Applied Sciences Offenburg, Germany
Christian Dornhege University of Freiburg, Germany
Amy Eguchi Bloomfield College, USA
Luis F. Lupian La Salle University, USA
Alessandro Farinelli Verona University, Italy
Alexander Ferrein FH Aachen University of Applied Sciences, Germany
Maria Gini University of Minnesota, USA
Fredrik Heintz Linköping University, Sweden
Glen Henshaw Naval Research Laboratory, USA
Koen Hindriks Delft University of Technology, The Netherlands
Dirk Holz University of Bonn, Germany
Luca Iocchi Sapienza University of Rome, Itay
Nobuhiro Ito Aichi Institute of Technology, Japan
Gerhard Kraetzschmar Bonn-Rhein-Sieg University of Applied Sciences,
Germany
Gerhard Lakemayer RWTH Aachen University, Germany
Nuno Lau University of Aveiro, Portugal
Pedro Lima University of Lisbon, Portugal
Fei Liu Second Military Medical University, China
VIII Organization
Daniel Lofaro George Mason University, USA
Eric Matson Purdue University, USA
Tekin Meriçli Bogazici University, Turkey
Çetin Meriçli Carnegie Mellon University, USA
Elena Messina National Institute of Standards and Technology, USA
Zhao Mingguo Tsinghua University, China
Eduardo Morales National Institute of Astrophysics, Optics and
Electronics, Mexico
Daniele Nardi Sapienza University of Rome, Italy
Tatsushi Nishi Osaka University, Tokyo
Itsuki Noda National Institute of Advanced Industrial Science
and Technology, Japan
Daniel Polani University of Hertfordshire, UK
Luis Paulo Reis University of Minho, Portugal
A. Fernando Ribeiro University of Minho, Portugal
Thomas Röfer German Research Centre for Artificial Intelligence
Subramanian Ramamoorthy University of Edinburgh, UK
Raul Rojas Free University of Berlin, Germany
Javier Ruiz-Del-Solar University of Chile
Erol Sahin Middle East Technical University, Turkey
Sanem Sariel Istanbul Technical University, Turkey
Jesus Savage National Autonomous University of Mexico
Paul Scerri Carnegie Mellon University, USA
Raymond Sheh Curtin University, Australia
Saeed Shiry Amirkabir University of Technology, Iran
Alexandre Simões São Paulo State University, Brazil
Elizabeth Sklar University of Liverpool, UK
Mohan Sridharan The University of Auckland, New Zealand
Peter Stone University of Texas at Austin, USA
Luis Enrique Sucar National Institute of Astrophysics, Optics and
Electronics, Mexico
Komei Sugiura National Institute of Information and Communications
Technology, Japan
Yasutake Takahashi University of Fukui, Japan
Yasinori Takemura Nishinippon Institute of Technology, Japan
Flavio Tonidandel Centro Universitario da FEI, Brazil
Markus Vincze Vienna University of Technology, Austria
Arnoud Visser University of Amsterdam, The Netherlands
Ubbo Visser University of Miami, USA
Oskar von Stryk Technische Universität Darmstadt, Germany
Jingchuan Wang Shanghai Jiao Tong University, China
Alfredo Weitzenfeld University of South Florida, USA
Franz Wotawa Graz University of Technology, Austria
Feng Wu University of Science and Technology of China
Organization IX
Additional Reviewers
Mehmet Akar Bogazici University, Turkey
Philipp Allgeuer University of Bonn, Germany
Okan Aşık Bogazici University, Turkey
Kai Chen University of Science and Technology of China
Eric Chown Bowdoin College, USA
Hafez Farazi University of Bonn, Germany
Reinhard Gerndt Ostfalia Hochschule für angewandte Wissenschaften,
Germany
Binnur Görer Bogazici University, Turkey
Andreas Hertle University of Freiburg, Germany
Nico Hochgeschwender Bonn-Rhein-Sieg University of Applied Sciences,
Germany
Victor Hofstede University of Amsterdam, The Netherlands
Dirk Holz University of Bonn, Germany
Ulrich Karras Festo Didactic, Germany
Andras Kupcsik National University of Singapore
Zhe Liu Shanghai Jiao Tong University, China
Marcell Missura University of Bonn, Germany
Walter Nowak Locomotec, Germany
Soroush Sadeghnejad Sharif University of Technology, Iran
Stefan Schiffer RWTH Aachen University, Germany
Marco A.C. Simões Bahia State University, Brazil
Zhixuan Wei Shanghai Jiao Tong University, China
RoboCup 2015 Organizing Committee
General Chair
Xiaoping Chen University of Science and Technology of China
Public Affairs Associate Chair
Wanmi Chen Shanghai University, China
Site Setup Associate Chair
Fei Liu Second Military Medical University, China
Industrial Activity Associate Chair
Feng Wu University of Science and Technology of China
Youngster Affairs Associate Chair
Shi Li Beijing Institute of Automation, China Academy
of Sciences
