Abstract. In this paper, we detail the contributions of our team NimbRo to the RoboCup @Home league in 2011. We explain design and rationale of our domestic service robot Cosero that we used for the first time in a competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation, flexible grasp planning, and real-time tracking of objects. We also describe our approaches to humanrobot cooperative manipulation and 3D navigation. Finally, we report on the use of our approaches and the performance of our robots at RoboCup 2011.
Abstract. Following obstacle free paths towards the ball and avoiding opponents while dribbling are key skills to win soccer games. These tasks are challenging as the robot's environment in soccer games is highly dynamic. Thus, exact plans will likely become invalid in the future and continuous replanning is necessary. The robots of the RoboCup Standard Platform League are equipped with limited computational resources, but have to perform many parallel tasks with real-time requirements. Consequently, path planning algorithms have to be fast. In this paper, we compare two approaches to reduce the planning time by using a local-multiresolution representation or a log-polar representation of the environment. Both approaches combine a detailed representation of the vicinity of the robot with a reasonably short planning time. We extend the multiresolution approach to the time dimension and we predict the opponents movement by projecting the planning robot's intentions.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.