The Cornell Robocup Team

D’Andrea, Raffaello; Kalmár‐Nagy, Tamás; Ganguly, Pritam; Babish, M.

doi:10.1007/3-540-45324-5_3

Cited by 19 publications

(21 citation statements)

References 3 publications

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“…The wheeled vehicles of Cornell's RoboCup Team [37,6] are the defenders in the RoboFlag Drill problem we consider in this paper. Each vehicle is equipped Zone Defense Figure 2: The RoboFlag Drill used to motivate the methods presented is this paper.…”

Section: Roboflag Drillmentioning

confidence: 99%

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A decomposition approach to multi-vehicle cooperative control

Earl

D’Andrea

2007

Robotics and Autonomous Systems

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We present methods that generate cooperative strategies for multivehicle control problems using a decomposition approach. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle, we decomposed the problem into a combinatorial component and a continuous component. The continuous component of the problem is captured by task execution, and the combinatorial component is captured by task assignment. In this paper, we present a solver for task assignment that generates near-optimal assignments quickly and can be used in real-time applications. To motivate our methods, we apply them to an adversarial game between two teams of vehicles. One team is governed by simple rules and the other by our algorithms. In our study of this game we found phase transitions, showing that the task assignment problem is most difficult to solve when the capabilities of the adversaries are comparable. Finally, we implement our algorithms in a multi-level architecture with a variable replanning rate at each level to provide feedback on a dynamically changing and uncertain environment.

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Section: Roboflag Drillmentioning

confidence: 99%

“…. , m d }, for each defender d, are computed using the primitive in equation (6). The time at which defender d intercepts the ith attacker in its intercept sequence, if not empty, is given by …”

Section: Roboflag Drillmentioning

confidence: 99%

A decomposition approach to multi-vehicle cooperative control

Earl

D’Andrea

2007

Robotics and Autonomous Systems

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“…We motivate our methods using the wheeled robots of Cornell's RoboCup Team [5,23]. In this section, we show how to simplify their nonlinear governing equations using a procedure from [18].…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

Iterative MILP methods for vehicle control problems

Earl

D’Andrea

2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that address this issue. We consider trajectory generation problems with obstacle avoidance requirements and minimum time trajectory generation problems. The algorithms use fewer binary variables than standard MILP methods and require less computational effort.

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“…The other type of existing methods use active openloop mechanisms in which wheels or rollers spin backward in order to retract the ball, i.e. towards the robot [2]. However, due to small variations in the field the ball is prone to spinning backward or lying still during a forward movement, which is against the prescribed rules and regulations.…”

Section: Introductionmentioning

confidence: 99%

“…Several methods for ball manipulation have been reported, e.g. [8], [2]. Many of the methods rely on passive systems in which the ball handling problem is shifted to a trajectory planning problem.…”

Section: Introductionmentioning

confidence: 99%

An active ball handling mechanism for RoboCup

Best

Molengraft

2008

2008 10th International Conference on Control, Automation, Robotics and Vision

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Abstract-This paper describes a new active ball handling method for the RoboCup mid-size league as used by team Tech United at Eindhoven University of Technology. A theoretical model is derived followed by the control design including a feedback controller and a feedforward controller. The proposed control design is validated with the Tech United soccer robots. The results of several tests show the effectiveness of the new ball handling design.

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The Cornell Robocup Team

Cited by 19 publications

References 3 publications

A decomposition approach to multi-vehicle cooperative control

A decomposition approach to multi-vehicle cooperative control

Iterative MILP methods for vehicle control problems

An active ball handling mechanism for RoboCup

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