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The AGILO Robot Soccer Team -- Experience-based Learning and Probabilistic Reasoning in Autonomous Robot Control (bibtex) [pdf]
  author  = {Michael Beetz and Thorsten Schmitt and Robert Hanek and Sebastian Buck and Freek Stulp and Derik Schr{\"o}ter and Bernd Radig},
  title   = {The {AGILO} Robot Soccer Team -- Experience-based Learning and Probabilistic Reasoning in Autonomous Robot Control},
  journal = {Autonomous Robots},
  year    = 2004,
  volume  = {17},
  number  = {1},
  pages   = {55--77},
  bib2html_pubtype  = {Journal},
  bib2html_rescat   = {Perception, Models, Learning, Planning, Action},
  bib2html_groups   = {AGILO},
  bib2html_funding  = {AGILO},
  bib2html_keywords = {Learning, Robot, Reasoning},
  abstract = {This article describes the computational model underlying the AGILO autonomous robot soccer team,
              its implementation, and our experiences with it. According to our model the control system of an
              autonomous soccer robot consists of a probabilistic game state estimator and a situated action
              selection module. The game state estimator computes the robot's belief state with respect to the
              current game situation using a simple off-theshelf camera system. The estimated game state
              comprises the positions and dynamic states of the robot itself and its teammates as well as the
              positions of the ball and the opponent players. Employing sophisticated probabilistic reasoning
              techniques and exploiting the cooperation between team mates, the robot can estimate complex game
              states reliably and accurately despite incomplete and inaccurate state information. The action
              selection module selects actions according to specified selection criteria as well as learned
              experiences. Automatic learning techniques made it possible to develop fast and skillful routines
              for approaching the ball, assigning roles, and performing coordinated plays. The paper discusses
              the computational techniques based on experimental data from the 2001 robot soccer world
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Last edited 09.03.2013 19:45 by goron