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RoboCup: Evaluation and Integration of ZKnipsers Behaviour Modules


Q. Censier

Semester Thesis, HS15 (10468)

Programing robots asks to understand many different fields of informatics, mathematics and physics like computer vision, mechatronics or artificial intelligence. In the RoboCup project, all the mechanical part is left to the Nao robots but everything must be programed. Based on the BHuman code release, ZKnipsers the ETHZ teamhave made new modules to improve it. The purpose of this work is to analyse three different behaviour modules and make them work together. In order to make five robots play together a football game, a dynamic role assigning module has been implemented, deciding which robot must attack the ball, which one should support the goalkeeper, and so on. Another module deals with the act of passing, deciding to whom, where and when to pass the ball. A last module, named diamond positioning, implements a positioning strategy. After a quick overview of Nao, RoboCup and BHuman, we will analyse the different modules to understand their strength and weakness. Then, we will try to understand the difference between the simulation and the reality and explain how to make those modules more steady. Last but not least, we will see how to combine those modules to make them work together.

Supervisors: Khoa Nguyen, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5391
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