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RoboCup: A Framework for Passing


F. Martinioni

Semester Thesis, HS14 (10405)

This thesis presents the framework created to implement the pass between robots in the RoboCup Standard Platform League. This framework is intended to give the user a comfortable workspace where tools and debug helpers are already implemented, in order to improve the pass and add more tactics. To facilitate the entry in the framework for a new user, a set of YouTube tutorials were recorded. A first sketch of pass is implemented. In order to find the player and the point where to pass the ball, the following procedure is followed. First, the field is discretized in points. Then the points near each possible receiving robot are selected. On the whole field and the respective points is calculated the shadow that each robot has. With the shadow is to intend to mark points that are unreachable because a robot in between. Then the points selected previously are compared with the shadowed field, and the still valid points are then passed to a selection algorithm. According to the position of the ball one of the following actions is performed: if the player is in front of the opponents' goal or it does not have the possibility to pass, it has to shoot directly to the goal, otherwise a forward, backward or lateral pass is done. As soon as a point is selected, the receiving robot is informed via message and will walk to the pass point. The algorithms presented were extensively tested on the simulator. In order to get a feedback from the real robot on what it is doing, a set of audio expressions were created. During a match the robot will therefore tell which decisions it takes. For testing algorithms sometime is needed to randomly place the robots or the ball in the field. A program with this functionality has been created. Inside a user defined boundary all the elements of the field can be randomly placed.

Supervisors: Khoa Nguyen, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

K. Nguyen

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2015:IFA_5111
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