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Latest entries for tag 'robocup'

RoboCup Logistics Software Stack Release 2016

RCLL 2016 Simulator Screenshot The Carologistics RoboCup Team has released their software stack of 2016 based on Fawkes 1.0.0 for the RoboCup Logistics League. It is a continuation of the release last year. It includes, for example, direct communication with the Robotino for time-stamped and faster data access and many improvements to the basic skills of the robot, tooling, and simulation integration.

The following video shows the RoboCup 2016 finals between the Carologistics and Solidus. The released software stack is the one used by the Carologistics team, which won the competition.

Details about the release and a video of the simulation are available on the RCLL software stack 2016 release page.

Posted by Tim Niemueller on February 8, 2017 14:00

RoboCup Logistics Software Stack Release 2015

RCLL 2015 Simulator Screenshot The Carologistics RoboCup Team has released their software stack of 2015 based on Fawkes for the RoboCup Logistics League. It is a continuation of the release last year. In particular, it features an improved simulation adapted to the new gameplay with physical processing machines introduced in 2015. It also contains most features of the upcoming Fawkes (core) release.

The following video shows the RoboCup 2015 finals between the Carologistics and Solidus. The released software stack is the one used by the Carologistics team, which won the competition.

The following video shows the software stack running in simulation with an explanation of its features. The simulation integration is an important part of the software release and has been a crucial factor in developing the software.

Details about the release and a video of the simulation are available on the RCLL software stack 2015 release page.

Posted by Tim Niemueller on February 22, 2016 13:39

World Champion in the RoboCup Logistics League 2015 in China

We won Robocup 2015 in the Logistics League with the Carologistics Team! Although there were many major and challenging changes of the league, we could defend our title as world champion. In the finals we won against Team Solidus with the score 56:26.

After arriving in Hefei, China, and getting introduced to the Chinese culture, we entered an exiting RoboCup competition. This years main challenge in the Logistics League was to adapt to the almost completely changed competition area and game rules. In contrast to last year, the game has changed from a moderately difficult and more abstract production scenario to a more realistic, flexible and plausible production scenario with actual processing stations based on the Festo Modular Production System (MPS). Especially finding the randomly placed machines and handling their small tolerances in the production were difficult tasks. We could build on top of our basic success at the RoboCup German Open and further improved our system to solve the challenge.

In the exploration phase of the game our robots explored the factory environment to find randomly placed machines. They used our flexible collision avoidance and navigation to drive to possible machine-positions in the unknown environment. To find machines we detected lines in the laser range data to cope with random machine orientation and determined the type and exact machine position by looking for attached AR tags. During the exploration, the robots dynamically generated a navigation-graph which is used later in the production. By presenting this approach based on Voronoi and CGAL we won a technical challenge.

In the production phase we struggled at the start of the tournament because of small tolerances when placing workpieces on the conveyor belt of a machine. Later in the tournament our machine handling improved. Here we benefited from our idea to adjust the height of the gripper by detecting the conveyor belt with OpenCV. To coordinate the multi-robot team and to perform the reasoning about the world model and the actions to take, we used a CLIPS agent based on the Incremental Task-Level Reasoning approach. The agent was adapted to the new game to control the new exploration phase, reason about the new machine types, their instruction, production preparation and output. Furthermore, the agent needed to handle random product orders with designated delivery times and a wide variety of product types and complexity.

Another factor for our success at the RoboCup is the simulation of the RCLL based on Gazebo. After modelling the new game and our robots in the simulation, we could use it for rapid prototyping and testing during the development. This was especially useful in the development of the agent and the low level behavior. It also allowed us to test before the RoboCup without having a full competition field.

After solving these challenging tasks to achieve a successful exploration and production, we won the finals against Team Solidus with the score 56:26. However, we are eager to improve our performance further. Now that we have a successful basis to explore, handle and reason about the new machines, we can focus on more efficient task allocation, faster physical interaction and more ideas to improve.

Posted by Frederik Zwilling on July 22, 2015 13:00

Carologistics Release RoboCup Logistics League 2014

RoboCup is particularly well-known for its soccer leagues, but there are an increasing number of application leagues. The newest one is the RoboCup Logistics League (RCLL) where groups of robots take on the task of in-factory production logistics. Development of a robust and capable integrated system to operate a group of autonomous mobile robots for an environment like the RCLL can be a tedious and longsome enterprise. This can be a barrier for new (or rebooting) teams and slow down even seasoned teams.

To foster the development of the RCLL as a whole and in the hope to serve as an example, we release our full software stack used for winning the RCLL 2014 today. It is based on the Fawkes Robot Software Framework. While major parts have always been openly available, the release also includes all parts which we developed in private specific to this domain and which we considered to be our competitive edge. We provide this in one coherent and tested package that will reduce the effort required to get a full running robot for the RCLL tremendously.

Some of the highlights that the package contains are components for localization and navigation, perception and vision, basic behaviors (skills) using our Lua-based Behavior Engine, and the complete task-level executive based on CLIPS. With the included simulation integration, you can immediately start and have a complete system that performs the 2014 game on the same level as the world champion.

The software has been developed for more than eight years by numerous people and has been used in the Middle-Size and Standard Platform soccer leagues, the RoboCup@Home league, the RCLL, and projects aside from RoboCup, like Hybrid Reasoning for Intelligent Systems and HERB at CMU. In the last three years the Carologistics team has been the major driving force developing the framework and its components to its present state.

We invite teams to take a look and adopt Fawkes as their software platform. All parts are Open Source software and the vast majority of components are developed in the public. We welcome contributions from anyone and hope to help newcomer teams to get a better start. In combination with the now publicly developed simulation for the 2015 game, it should be far easier to perform better than ever before.

More detailed information are available on the Fawkes LLSF 2014 Release Page.

Posted by Tim Niemueller on March 30, 2015 18:00

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

Carologistics at RoboCup 2013

We participated with the Carologistics Team at the RoboCup 2013 in Eindhoven, Netherlands. After a promising performance in the round-robin phase we reached the small finals. To achieve this we had to solve many technical challenges, such as task planning, where we used an incremental reasoning approach and visual perception of light signals and pucks.

In the Open Technical Challenge we gave an interesting demo of a Robotino performing a pick-and-place task with a mounted Jaco Arm from Kinova.

Posted by Frederik Zwilling on June 30, 2013 16:00

robOCD: Robotic Order Cups Demo - An Interactive Domestic Service Robotics Demo

We have uploaded a new video highlighting a demo integrating natural user interaction by speech and gesture, decision theoretic planning, and autonomous task execution on the domestic service robot Caesar at the KBSG, RWTH Aachen University. It was conceived and implemented during the RoboCup German Open.

In a home-like environment Caesar's task is to help setting the table. Besides basic capabilities of an autonomous mobile robot it uses methods for human-robot interaction and it also has a sophisticated high-level control that allows for decision-theoretic planning. We use this demo to illustrate the interplay of several modules of our robot control software in carrying out complex tasks. The overall system allows to perform robust reliable service robotics in domestic settings like in the RoboCup@Home league.

Also, we show how our high-level programming language provides a powerful framework for agent behavior specification that can be beneficially deployed for service robotic applications.

Posted by Tim Niemueller on October 5, 2012 13:24

Carologistics at RoboCup 2012

The IMA/ZLW & IFU Institute Cluster, RWTH Aachen University, the Knowledge-based Systems Group, RWTH Aachen University, and the Department for Electrical Engineering and Information Technology, Robotics Group, FH Aachen founded the new Carologistics robot team to participate in the Festo RoboCup Logistics League

The team is about to set out for their journey to Mexico City to take part in the competition. During a Hackathon students were trained and selected to take part in the competition and developed the crucial software components required for the competition. They have developed, adapted, ported, and integrated software to perform self localization, navigate the Robotino on the playing field avoiding obstacles, visually detect pucks and lights, and behavior code to tie it all together. They use a mix of Fawkes and ROS to power their robots and to get a tightly integrated system which fits the platform short in terms of computing power. If you are interested about Fawkes and at RoboCup 2012 you are welcome to visit us and have a chat!

Posted by Tim Niemueller on June 14, 2012 01:24

RoboCup German Open 2011

The AllemaniACs RoboCup Team has arrived in Madgeburg to participate in the RoboCup German Open 2011. This time they will participate in the RoboCup@Home service robot competition.

The robot Caesar is powered by the current version of Fawkes, in combination with an older software system called RCSoftX. Most teams are now employing Kinect cameras. For the AllemaniACs, support for OpenNI has landed in Fawkes just in time.

You are welcome to visit us in Hall 1 of the Messe Magdeburg to see robots helping in a household or to ask questions about Fawkes.

Posted by Tim Niemueller on March 30, 2011 12:38