Behavior-Based vision on a 4 legged soccer robot

Authors:
Floris Mantz;Pieter Jonker;Wouter Caarls
Affiliations:
Quantitative Imaging Group, Faculty of Applied Sciences, Delft University of Technology, Delft, The Netherlands;Quantitative Imaging Group, Faculty of Applied Sciences, Delft University of Technology, Delft, The Netherlands;Quantitative Imaging Group, Faculty of Applied Sciences, Delft University of Technology, Delft, The Netherlands
Venue:
RoboCup 2005
Year:
2006

Citing 4
Cited 0

Intelligence without representation

Artificial Intelligence
Robust Monte Carlo localization for mobile robots

Artificial Intelligence
An Behavior-based Robotics

An Behavior-based Robotics
A Modular Hierarchical Behavior-Based Architecture

RoboCup 2001: Robot Soccer World Cup V

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper the architecture of a 4 legged soccer robot is divided into a hierarchy of behaviors, where each behavior represents an independent sense-think-act loop. Based on this view we have implemented a behavior-based vision system, improving performance due to object-specific image processing,behavior-specific image processing and behavior-specific self localization. The system was tested under various lighting conditions, off-line using sets of images, and on-line in real tests for a robot in the role of goalkeeper. It appeared hat the performance of the goalie doubled, that it could play under a wider range of lighting and environmental conditions and used less CPU power.