Utility- and Plan-based Action Selection based on Probabilis

Abstract. This paper describes the AGILO RoboCuppers 1 the RoboCup team of the image understanding group (FG BV) at the Technische Universit?t München. With a team of four Pioneer I robots, all equipped with CCD camera and a single board computer, we’ve

AGILORoboCuppers2001

Utility-andPlan-basedActionSelectionbasedonProbabilisticallyEstimatedGameSituations

ThorstenSchmitt,SebastianBuckandMichaelBeetz

ForschungsgruppeBildverstehen(FGBV)–InformatikIX

TechnischeUniversit¨atM¨unchen,Germany

schmittt,buck,beetzm@in.tum.de

http://www9.in.tum.de/robocup/

Abstract.ThispaperdescribestheAGILORoboCuppers1theRoboCupteamoftheimageunderstandinggroup(FGBV)attheTechnischeUniversit¨atM¨unchen.WithateamoffourPioneerIrobots,allequippedwithCCDcameraandasingleboardcomputer,we’veparticipatedinallinternationalmiddlesizeleaguetourna-mentsfrom1998until2001.Weuseamodularapproachofconcurrentsubpro-gramsforimageprocessing,selflocalization,objecttracking,actionselection,pathplanningandbasicrobotcontrol.Afastfeatureextractionprocessprovidesthedatanecessaryfortheon-boardsceneinterpretation.Allrobotobservationsarefusedintoasingleenvironmentalmodel,whichformsthebasisforactionselection,pathplanningandlow-levelrobotcontrol.

1Introduction

ThepurposeofourRoboCupactivitiesistoprovideasoftwareandhardwareplatformfor(1)pursuingresearchinrobotvision,probabilisticstateestimation,multi-robotco-operation,experiencebasedlearning,andplan-basedcontrol;(2)supportingundergrad-uateandgraduateeducationincomputervision,arti cialintelligence,androbotics;and

(3)performingsoftwareengineeringoflargedynamicsoftwaresystems.2HardwareArchitecture

WeaimatrealizingtheAGILORoboCupteamonthebasisofinexpensive,offtheshelf,easilyextendiblehardwarecomponentsandastandardsoftwareenvironment.

TheteamconsistsoffourPioneerIrobots[1]eachequippedwithasingleonboard

harddisk,on-boardeth-linuxcomputer(Pentium200MHzCPU,64MBRAM,

ernet,andVGAcontroller,andaninexpensiveBT848-basedPCIvideocapturecard).TheyaresupportedbyanadditionalPCwhichresidesoutsidetheplaying eld.Itisusedtofusetheobservationsmadebytheindividualteammembersandtomonitortherobots’dataandstates.AllrobotcomputersandtheadditionalPCarelinkedviaa10Mbpswirelessethernet(5.8GHz)[3,2].

Fig.1(a)showstwo2ofourPioneer1robots.InsidetherobotaMotorolamicropro-cessorcontrolsthemotors,readsthewheelencodersandthesevenultrasonicsonars,andcommunicateswiththesingleboardcomputerEM-500,whichismountedwithinaboxonthetopsideoftherobot.PCandrobotareconnectedviaastandardRS232serial

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