RoboCup@Home: Summarizing achievements in over eleven years of competition

Matamoros, Mauricio; Seib, Viktor; Memmesheimer, Raphael; Paulus, Dietrich

doi:10.1109/icarsc.2018.8374181

Cited by 15 publications

(19 citation statements)

References 12 publications

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“…As we can see, although several application have been developed, they mostly are task-specific and highly depend on the experimental setup. It's in this context that the use of robot competitions as a benchmark for robot systems' performance has been proposed [ [8]], where several skills can objectively be evaluated in human-like scenarios to mark trends and challenges in the area as in [9] and [10]. The most recent work towards this goal is Habitat 2.0 [11] where the authors present a simulated home environment where the robot can perform several tasks; however, no specific rules and regulations are provided.…”

Section: Related Workmentioning

confidence: 99%

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Contreras¹,

Matsusaka²,

Yamamoto³

et al. 2021

Preprint

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Although the skills required to solve isolated robotics problems are reaching amazing performances recently, we propose the evaluation of such individual solutions in fully integrated robot systems tested in real daily situations like those presented at international robotics competitions. The simulation Domestic Standard Platform League (sDSPL), which utilizes the HSR simulator developed for the World Robot Summit, surges from the necessity to standardise and spread the research on Domestic Service Robots where a series of solutions can be tested to solve a general-purpose task in a standard domestic environment; this approach has been proven successful at several international competitions, namely, the RoboCup Japan Open, the Mexican Tournament of Robotics, and the RoboCup 2021.<div><br></div><div>**This work was accepted to The 39th Annual Conference of the Robotics Society of Japan.<br></div>

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Section: Related Workmentioning

confidence: 99%

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Contreras¹,

Matsusaka²,

Yamamoto³

et al. 2021

Preprint

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“…Unfortunately, the advances in manipulation seem to have stalled [24]. Although challenges like pouring, stacking, (a) (b) Figure 7: Team Nimbro's final demo in 2011 [38].…”

Section: Advances and Current Statementioning

confidence: 99%

Trends, Challenges and Adopted Strategies in RoboCup@Home

Matamoros

Seib

Paulus

2019

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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Scientific competitions are crucial in the field of service robotics. They foster knowledge exchange and allow teams to test their research in unstandardized scenarios and compare result. Such is the case of RoboCup@Home. However, keeping track of all the technologies and solution approaches used by teams to solve the tests can be a challenge in itself. Moreover, after eleven years of competitions, it's easy to delve too much into the field, losing perspective and forgetting about the user's needs and long term goals.In this paper, we aim to tackle this problems by presenting a summary of the trending solutions and approaches used in Robo-Cup@Home, and discussing the attained achievements and challenges to overcome in relation with the progress required to fulfill the long-term goal of the league. Hence, considering the current capabilities of the robots and their limitations, we propose a set of milestones to address in upcoming competitions.With this work we lay the foundations towards the creation of roadmaps that can help to direct efforts in testing and benchmarking in robotics competitions.Remark: Information from 2018 participants couldn't be considered since the list of attending teams to Montreal 2018 and their scoring in the RoboCup@Home leage was not available at the writing time of this manuscript.

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“…We consider a situation where the user teaches the robot the path to follow beforehand, after which the robot moves along the learned path [14][15][16][17]. The robot is designed to move around an indoor environment, such as rooms and corridors, as a service robot, in order to fulfill several navigation tasks, such as those presented in RoboCup@Home [18,19]. Various environments could be considered for indoor service robots.…”

Section: Introductionmentioning

confidence: 99%

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi

Ito

2019

Robotics

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Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.

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RoboCup@Home: Summarizing achievements in over eleven years of competition

Cited by 15 publications

References 12 publications

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Trends, Challenges and Adopted Strategies in RoboCup@Home

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

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