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Winner of the RoboCup German Open 2014 Logistics League

We won the RoboCup German Open 2014 Logistics League with the Carologistics team. In the finals we beat the TUMsBendingUnits with 71:30. This is an important milestone on the road to the RoboCup 2014 in Brazil.

After some mayor rule changes the competing teams had to play in a shared factory space. Here we benefited from your flexible navigation and collision avoidance. The collision avoidance was ported to Fawkes from the AllemaniAcs Team in the RoboCup@Home league and uses an occupancy grid, A* search and a collision free triangle to find trajectories on the planned path. Our performance was also boosted by a closer multi-robot coordination, which allowed the robot team to produce ordered goods more quickly. The robots could perform small sub-steps of a larger production task in parallel and could continue with the work of another robot. For the development of the agent, the component responsible for the task reasoning and multi-robot coordination, we used a Gazebo based simulation of the Logistics League, which allowed rapid prototyping. Furthermore we used more robust techniques for visual perception of light signals and pucks by using colour filters and geometrical clues.

Posted by Frederik Zwilling on April 5, 2014 12:00

Tags: colli event fawkes germanopen multi-robot-coordination robocup robotino simulation winner

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