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RoboCup: Drop-in Player


M. Leuenberger, L. Affolter

Semester Thesis, FS15 (10428/9)

Autonomous mobile robots are a fast advancing field of interest. Especially in logistics, transportation or production there is a growing need for reliable autonomous mobile robots. Therefore any knowledge acquired in the field of autonomous mobile robots can be valuable as it might be transfered to research fields which help improve the infrastructure and technological advancements. This RoboCup with its different leagues has therefore, even if it might look as a silly playground for some robotics enthusiasts, its relevance for social and economical aspects. Our thesis was written within the Standard Platform League of the RoboCup. We worked on the special competition Drop-in Player for the Z-Knipsers, a robotic soccer team of the ETH Zurich.

Our thesis about the implementation of a Drop-in Player for the Z-Knipsers Team consists of a description of the communication that is allowed in this special challenge and how we implemented it. It is then followed by a description of the new roles that we created inspired by Kelly Steich's Dynamic Role Assignment, a semester thesis of 2014. Because there is less communication allowed in the Drop-in Challenge than in the normal team competition we had to change the combined world model, a model created with all communication data of the robots. We also integrated Fillipo Martinoni's passing in a for the Drop-in Challenge suitable form and implemented the World Cup 2014 winner strategy of the Drop-in Challenge, namely a reliability that rates other players' reliability whether they send accurate information.

The thesis is structured in six chapters. At the beginning is an Introduction into the topic with a short explanation of the RoboCup, the Standard Platform League and the Drop-in Player Challenge. It is then followed by the Chapter Related Work where the history of the Drop-in challenge and other teams' strategies are described. The next two Chapters are a detailed explanation of our work on the Drop-in Player and implementation details. It is finished by a conclusion and an outlook on future work that could be done.

Supervisors: Khoa Nguyen, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { LeuAff:2015:IFA_5184
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