【導(dǎo)讀】解答這個標(biāo)準(zhǔn)的問題，我們集成和檢驗很多領(lǐng)域的技術(shù)。機器人杯選取了足球作為。研究的中心課題，目的在于促進創(chuàng)新，以便應(yīng)用于社會重大問題和工業(yè)生產(chǎn)。利的具有全自動特性的類人機器人隊伍。治終端的設(shè)計原理，多終端協(xié)作，策略學(xué)習(xí)，實時分析，機器人學(xué)和傳感器整合。機器人杯技術(shù)的一個主要應(yīng)用是在大規(guī)模災(zāi)難中執(zhí)行尋找和營救的任務(wù)。在下一部分我們將介紹機器人杯的起源，組織及比賽情況。在第三部分我們將。標(biāo)是提出一個具有挑戰(zhàn)性的研究課題，以便促進機器人學(xué)的發(fā)展。小型機器人賽，中型機器人賽，四足機器人賽，類人機器人賽。在1997年7月首次官方會議和比賽在日本舉行。一年一次的盛事吸引了許多參賽者。并為人類提供一個二。三維視圖，自動實況報道及統(tǒng)計分析。有關(guān)節(jié)的機器人，比如類人機器人。中必須的，在系統(tǒng)默認(rèn)的簡捷方式安裝中，你得到的一個不是那么吸引人的openGL，用專用的商業(yè)化的FM傳送/接收裝置，盡管至少有一支隊成功地利用了IRDA技術(shù)。

　　

【正文】 wireless munications. No external intervention by humans is allowed, except to insert or remove robots in/from the field. 2. 5 The FourLegged League In The FourLegged League, participating teams have to use robots specified by the Competition Committee without any modification on its hardware. In 2020 there are choices of either using Sony Entertainment Robot AIBO ERS210/210A, or Sony Entertainment Robot AIBO ERS7, or A bination of both in the team The four main technical issues associated with the SSL are the following: 中英文資料 Robust color processing and color tracking. The lighting at tournament halls is very irregular。 there are shadows and unpredictable variations during a game. The software has to surmount these difficulties while processing video frames provided by inexpensive cameras. In recent years, most good teams have solved these issues, and we do not see them losing the robots or the ball. Robust mechanical design. A robot able to play at a good level in the SSL must be fast (12 m/s maximal speed) and able to resist strong collisions. Typically, SSL robots can fall from a table and continue playing. There has been a new emphasis in mechanical design during the last two years with the introduction of such innovations as omni directional drive (Cornell 2020) and dribbling bars that allow robots to control the ball and pass it (Cornell 2020). Robust wireless munications. This might be considered the single most important 中英文資料 unsolved issue in the SSL. Most teams use the same RF chips and this has led to significant interference problems in the past. Tournaments have bee too long because it is very difficult to schedule simultaneous games. A solution such as WaveLan cards or Bluetooth Figure 5. Middle Size League 437 modules will be explored in the future. Good programming of robot behavior. It can be safely said that most teams in the SSL have adopted a pure reactive design with simple strategic goals. The fact that the field of play is too small relative to the size of the robots means that it does not pay to pute too plicated strategies. The horizon of most systems is just a few frames into the future, since the robots are so fast relative to the size of the field. Thus, enlarging the field has to bee a major research issue if more sophisticated strategies are to be programmed. Figure 6. 4 legged league Figure 7. Humanoid league 中英文資料 Humanoid League Humanoid robots show basic skills of soccer players, such as shooting a ball, or defending a goal. Relevant objects are distinguished by colors. External intervention by humans is allowed, as some of the humanoid robots are teleoperated. 3. Viewing a Soccer Game as a MultiAgent Environment A soccer game is a specific but very attractive real time multiagent environment from the viewpoint of distributed artificial intelligence and multiagent research. If we regard a soccer team as a multiagent system, a lot of interesting research issues will arise. In a game, we have two peting teams. Each team has a teamwide mon goal, namely to win the game. The goals of the two teams are inpatible. The opponent team can be seen as a dynamic and obstructive environment, which might disturb the achievement of the mon team goal. To fulfill the mon goal, each team needs to score, which can be seen as a subgoal. To achieve this subgoals, each 中英文資料 team member is required to behave quickly, flexibly, and cooperatively。 by taking local and global situations into account. The team might have some sorts of global (teamwide) strategies to fulfill the mon goal, and both local and global tactics to achieve subgoals. However, consider the following challenges: the game environment, . the movement of the team members and the opponent team, is highly dynamic. the perception of each player could be locally limited. the role of each player can be different. munication among players is limited。 therefore, each agent is required to behave very 438 flexibly and autonomously in realtime under the resource bounded situation. Summarizing these issues, a soccer team can be viewed as a cooperative distributed realtime planning scheme, embedded in a highly dynamic environment. In 中英文資料 cooperative distributed planning for mon global goals, important tasks include the generation of promising local plans at each agent and coordination of these local plans. The dynamics of the problem space, . the changing rate of goals pared with the performance of each planner, are relatively large, reactive planning that interleaves the plan generation and execution phases is known to be an effective methodology at least for a single agent to deal with these dynamic problems. For cooperative plan schemes, there are frequent changes in the problem space or the observation of each agent is restricted locally. There is a tradeoff between munication cost, which is necessary to coordinate the local plans of agents with a global plan, and the accuracy of the global plan (this is known as the predictability/responsiveness tradeoff). The study of the relationship between the munication cost and processing cost 中英文資料 concerning the reliability of the hypotheses in FA/C, and the relationship between the modification cost of local plans and the accuracy of a global plan in PGP illustrate this fact. Schemes for reactive cooperative planning in dynamic problem spaces have been proposed and evaluated sometimes based on the pursuit game (predatorprey) (Hiroaki01). However, the pursuit game is a relatively simple game, the environment is basically for the study of a single agent architecture. We see that a robot soccer game will provide a much tougher, fertile, integrated, exciting, and pionee