Abstract
We present an approach to shape robots on their sensorial ability. We argue that the interface with the external world may strongly condition the design of a robot, from the mechanical aspects to reasoning and learning. We show the implementation of this philosophy in the RoboCup middle-size player Rullit, shaped on its omnidirectional vision sensor.
This research has been partially supported by the MURST Project CERTAMEN. The camera has been kindly provided by Sony Italia. I have to thank G. Borghi, who introduced me to the world of omnidirectional vision, R. Cassinis, who first implemented an Italian Robocup player around an omnidirectional sensor (the ART goalie, Saracinescu), and all the members of the Politecnico di Milano AI&R Robocup Team for their effort in the implementation of Rullit: P. Aliverti, M. Bellini, G. Contini, N. Ghironi, P. Lucioni, C. Mambretti, A. Marangon, P. Meriggi.
Chapter PDF
References
G. Agazzi and A. Bonarini. Problems and solutions in acquisition and interpretation of sensorial data on a mobile robot. In IEEE Instrumentation and Measurement Tecnology Conference-IMTC99, Piscataway, NJ, 1999. IEEE Computer Press.
M. Asada, editor. RoboCup 98: Robot Soccer World Gup II, Paris, F, 1998. Eurobot Project-CEC.
M. Asada, P. Stone, H. Kitano, A. Drogoul, D. Duhaut, M. Veloso, H. Asama, and S. Suzuki. The robocup physical challenge: goals and protocols for phasei. In H. Kitano, editor, RoboCup 91: Robot Soccer World Cup I, pages 42–61. Springer-Verlag, Berlin, D, 1997.
A. Bonarini. ELF: Learning incomplete fuzzy rule sets for an autonomous robot. In Hans-Jürgen Zimmermann, editor, First European Congress on Fuzzy and Intelligent Technologies-EUFIT’93, volume 1, pages 69–75, Aachen, D, 1993. Verlag der Augustinus Buchhandlung.
A. Bonarini. Evolutionary learning of fuzzy rules: competition and cooperation. In W. Pedrycz, editor, Fuzzy Modelling: Paradigms and Practice, pages 265–284. Kluwer Academic Press, Norwell, MA, 1996.
A. Bonarini. Reinforcement distribution to fuzzy classifiers: a methodology to extend crisp algorithms. In IEEE International Conference on Evolutionary Computation-WCCI-ICEC’98, volume 1, pages 51–56, Piscataway, NJ, 1998. IEEE Computer Press.
A. Bonarini, P. Aliverti, and M. Lucioni. An omnidirectional vision sensor for fast tracking for mobile robots. In IEEE Instrumentation and Measurement Tecnology Conference-IMTC99, Piscataway, NJ, 1999. IEEE Computer Press.
A. Bonarini and F. Basso. Learning to compose fuzzy behaviors for autonomous agents. Int. J. of Approximate Reasoning, 17(4):409–432, 1997.
J. Borenstein, H.R. Everett, and L. Feng. Where am i? sensors and methods for mobile robot positioning. Technical report, The University of Michigan, Ann Arbor, MI, 1996.
J-S Gutmann, W. Hatzack, I. Herrmann, B. Nebel, F. Rittinger, A. Topor, T. Weigel, and B. Welsch. The cs freiburg team. In M. Asada, editor, RoboCup 98: Robot Soccer World Cup II, pages 451–457, Paris, F, 1998. Eurobot Project-CEC.
G. J. Klir, B. Yuan, and U. St. Clair. Fuzzy set theory: foundations and applicatons. Prentice-Hall, Englewood Cliffs, MA, 1997.
D. Nardi, G. Clemente, and E. Pagello. Art azzurra robot team. In M. Asada, editor, RoboCup 98: Robot Soccer World Cup II, pages 467–474, Paris, F, 1998. Eurobot Project-CEC.
M. Piaggio and R. Zaccaria. Distributing a robotic system on a network: the ethnos approach. Advanced Robotics Journal, 12(8), 1998.
Robocup. The robocup initiative. http://www.RoboCup.org/, 1999.
A. Saffiotti, K. Konolige, and E. H. Ruspini. A multivalued-logic approach to integrating planning and control. Artificial Intelligence, 76(1–2):481–526, 1995.
P. Stone and M. Veloso. Tpot-rl: Team-partitioned, opaque-transition reinforcement learning. In M. Asada, editor, RoboCup 98: Robot Soccer World Cup II, pages 221–236, Paris, F, 1998. Eurobot Project-CEC.
S. Suzuki, T. Kato, H. Ishizuka, Y. Takahashi, E. Uchibe, and M. Asada. An application of vision-based learning for a real robot in robocup-a goal keeping behavior for a robot with omnidirectional vision and an embedded servoing. In M. Asada, editor, RoboCup 98: Robot Soccer World Cup II, pages 467–474, Paris, F, 1998. Eurobot Project-CEC.
E. Uchibe, M. Nakamura, and M. Asada. Cooperative and competitive behavior acquisition for mobile robots through co-evolution. In Proceedings of the Genetic and Evolutionary Computation Conference-GECCO99, pages 1406–1413, San Francisco, CA, 1999. Morgan Kaufmann.
Y. Yagi, S. Kawato, and S. Tsuji. Real-time omnidirectional image sensor (copis) for vision-guided navigation. IEEE Transactions on Robotics and Automation, 10(1):11–22, 1994.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bonarini, A. (2000). The Body, the Mind or the Eye, first?. In: Veloso, M., Pagello, E., Kitano, H. (eds) RoboCup-99: Robot Soccer World Cup III. RoboCup 1999. Lecture Notes in Computer Science(), vol 1856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45327-X_16
Download citation
DOI: https://doi.org/10.1007/3-540-45327-X_16
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-41043-0
Online ISBN: 978-3-540-45327-7
eBook Packages: Springer Book Archive