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Latest entries for tag 'colli'

World Champion in the RoboCup Logistics League 2014 in Brazil

We did it! We won in the RoboCup Logistics League 2014 in João Pessoa, Brazil. In a flawless run through the tournament we won every game and had an exiting final against the title defender Bavarian Bending Units. We participated with the Carologistics team, a joint venture of the Knowledge-based Systems Group, RWTH Aachen University, the IMA/ZLW & IFU Institute Cluster, RWTH Aachen University, and the Department for Electrical Engineering and Information Technology, Robotics Group, FH Aachen

A few days after the German national team won the Fifa World Cup, we also went to Brazil to win a title, in our case the RoboCup 2014 Logistics League. We competed with 9 other teams from Germany, Brazil, Japan, Egypt, Mexico, Switzerland and France. After arriving in João Pessoa, a beautiful city at the beach with topical weather and a lot of coconuts to drink from, we could continue with our good performance from the German Open. Nevertheless we faced various challenges, such as changing lightening conditions and recovering from wrong worldmodels after wrong perception results. As we solved these issues and further improved our low level skills, which use the Lua behavior engine, and the high level task decision based on an incremental reasoning approach in CLIPS with improved multi-robot collaboration, we continued to increase our performance.

In the final we won against the Bavarian Bending Units with the score 165:124. The following video shows the final.

In the first phase, the exploration phase, we could successfully detect all light signals to determine the machine types. Even after one robot had to be restarted, it could continue its work because the robot team synchronizes their knowledge about the world.
In the production phase the robot team got randomized orders and had to produce the products according to the production chain and the machine types with the raw material pucks lying on the side of the field. We especially profited from our collision avoidance and multi-robot coordination. The collision avoidance allowed us to get through narrow passages between other robots or take alternative paths. The high level decision making and multi-robot coordination of the CLIPS agent lead to a fast completion of complex products.

We also won multiple technical challenges, namely the navigation challenge and the MPS challenge:

At the RoboCup Symposium we presented our simulation of the RoboCup Logistics League. It is an important tool for rapid prototyping, especially of the high level decision and multi-robot coordination. It features a 3D physics and sensor simulation with real world environment agency because it is controlled by the referee box that also controls the real game.

Posted by Frederik Zwilling on July 24, 2014 18:00

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