Prof. Dr. Raul Rojas FU Berlin Learning and Control for Autonomous Robots
Embodied Intelligence: A new Paradigm for AI - Intelligence needs a body: mechanics - Computer vision in real time - Artificial Energy management Intelligence is the -of Local the subconscious control - Communication between agents - Coordination and team behavior - Adaptation and learning the art and science
Robotic Soccer as AI Benchmark RoboCup started with IJCAI 1997 I - Simulation league II Small size league III- Mid-size league IV- Legged league V Humanoid league
Small-Size Size Liga 18 cm in diameter
Lisbon 2004
Kicking the distance
Mid-size league four on four field 12 8 meters
Lisbon 2004
Pressuring the goalie
Our small-size size robots
Omnidirectional Design
Omnidirectional Control
Our mid-size robots Omnidirectional vision - Laptop for control - Firewire video camera
CAD Design
FUXABOT: The Hexapod
I Global vision
Global vision computer wireless communication global camera
The world is colored Team color ball
Projective Transformation
Automatic camera calibration
Illumination artifacts
Adaptive color maps
Tracking helps computer vision the position of the ball is predicted variable search frame just a few pixels are read
Tracking the robots We need the data of the future Data from the past t vision delay communication delay
Predict the robot s movement ositions (x 1,y 1 ) (v x,v y, w) 1 (x 2,y 2 ) (v x,v y, w) 2 predictor (x,y,θ ) (x 3,y 3 ) (v x,v y, w) 3 (x 4,y 4 ) Position and orientation four frames in the future (100 ms) ommands (v x,v y, w) 4
II Local vision
Our first omnivision robots
Spherical and parabolic transformations
The field seen with our mirror
Locating the robot Parabolic Mirror 500 400 distance 300 200 100 0 0 0.1 0.2 0.3 0. pixel distance
Expectation-Maximization The model attracts the cloud of points
Forces on real data
Precomputed resultant forces for each coordinate
Obstacle Detection
Obstacle Modelling
Obstacle Fusion
Obstacle Identification
III Reactive Behavior
Reactive Behavior Control slow fast sensors behaviors actuators
Lower layer Structure of a layer Higher layer nsors effectors sensors behaviors actors
Kicking reflex Kicking reflex activated
Screenshot of control software
Kicking Path planning objective desired position position approach Path planning stop execute
Kicking aproach objective position Ziel approach Path planning stop execute
Kicking objective aproach position Ziel approach Path planning stop execute
Kicking objective execute position approach Path planning stop execute
Kicking objective execute Halten approach Path planning stop execute
Kicking objective execute stop approach Path planning stop execute
Kicking stop approach Path planning stop execute
Pass Pass approach goal goal position approach position
Pass Pass goal position goal aproach position pass
Pass pass goal kick-it goal approach position pass kick-it
Pass kick-it approach position pass kick-it
Pass kick-it approach position pass kick-it
Pass kick-it approach position pass kick-it
IV Learning and Coaching the robots
Anpassbarkeit
Raumfreiheit
Beispiel-Eingabe
Learning to pass
Passing game
Team Play
The Goalie
Goalie again
Learning: : robot heal yourself
Learn what the robot does positions (x 1,y 1 ) (v x,v y, w) 1 (x 2,y 2 ) (v x,v y, w) 2 (x 3,y 3 ) predictor (x,y,θ ) Measured position (v x,v y, w) 3 (x 4,y 4 ) commands (v x,v y, w) 4
Invert the prediction (x 1,y 1 ) (v x,v y, w) 1 (x 2,y 2 ) (v x,v y, w) 2 (x 3,y 3 ) predictor (x,y,θ ) desired position (v x,v y, w) 3 (x 4,y 4 ) (v x,v y, w) 4
One burnt motor
V Summary and Outlook
FU Fighters 1999 Vizeweltmeister 2000 Europa- und Vizeweltmeister 2001 Vierter Platz 2002 Europa- und Vizeweltmeister 2003 Europameister Dritter Platz (small( small-size) Halbfinalist (mid( mid-size) 2004 Weltmeister (small( small-size)
Gene s Law Embedded Intelligence
2005: Intelligent Vehicles
Intelligent Chalkboard
Mathematical Handwriting Recognition
Intelligent Glasses Camera captures images Software stitches images Speech recognition Speechsynthesis
Small-Size Team Anna Egorova, Alexander Gloye, Mark Simon, Cüneyt Göktekin, Bastian Hecht, Achim Liers, Oliver Tenchio, Fabian Wiesel, Lina Ourima, Maria Jütte, Thomas Sunderman Susanne Schöttker-Söhl
Mid-size Team Holger Freyther, Ketill Gunnarsson, Henning Heinold, Felix von Hundelshausen, Wolf Lindstrot, Marian Luft, Slav Petrov, Michael Schreiber, Frederik Zilly, Fabian Ruff, David Schneider, Markus Kettern
Detlef MüllerM und Feinwerktechnik
Fritz-Haber Haber-Institut Georg Heyne Peter Zilske Torsten Vetter Ronald Nehring
History of Computing