Toward a Competitive Pool-Playing Robot

Greenspan, Michael; Lam, Joseph S.; Godard, M.; Zaidi, I.; Jordan, Samuel; Leckie, Will; Anderson, Keith; Dupuis, D.

doi:10.1109/mc.2008.33

Cited by 14 publications

(19 citation statements)

References 5 publications

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“…However, the Deep Green research has not reported on the issues related to the cue ball positioning. In their latest publication, Greenspan et al [2] state that the robot has pocketed runs of four consecutive balls, but no quantitative figure is given for the ball potting accuracy. Here some facts concerning the pocket and the ball sizes in pool and snooker must also be considered.…”

Section: Discussionmentioning

confidence: 99%

“…robotic football, is a well-known example, with the participation of thousands of researchers all over the world. The robots created to play the billiards family of games are placed in this context [1]- [2]. The billiards family has a number of variants of which snooker and pool are the most common.…”

Section: > Replace This Line With Your Paper Identification Number (Dmentioning

confidence: 99%

“…The spatial positioning accuracy of the robot is reported to be 0.6 mm and a ball potting accuracy of 67% is claimed for the straight shots [10]. According to their later publication, the robot has pocketed runs of four consecutive balls [2]. However, ball pocketing accuracy and cue ball postpositioning accuracy, which are crucial metrics for a successful and continued gameplay, are not provided.…”

Section: A Review Of Billiard Robotsmentioning

confidence: 99%

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Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution

Mathavan

Jackson

Parkin

2016

IEEE/ASME Trans. Mechatron.

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Section: Discussionmentioning

confidence: 99%

Section: > Replace This Line With Your Paper Identification Number (Dmentioning

confidence: 99%

Section: A Review Of Billiard Robotsmentioning

confidence: 99%

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Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution

Mathavan

Jackson

Parkin

2016

IEEE/ASME Trans. Mechatron.

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“…The most recent, and likely most complete system to date, is Deep Green from Queen's University, Canada (Greenspan et al 2008), shown in figure 1. This system uses an industrial gantry robot ceiling-mounted over a full-sized pool table.…”

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confidence: 99%

“…The tournament was then repeated in 2006 (Greenspan 2006) and2008. The game played in all computer pool competitions to date has been 8-ball, based on the official rules of the Billiards Congress of America (1992). Eight-ball is played on a rectangular pool table with six pockets that is initially racked with 15 object balls (7 solids, 7 stripes, and one 8-ball), and a cue ball (see figure 2).…”

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confidence: 99%

Computational Pool: A New Challenge for Game Theory Pragmatics

et al. 2010

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C ue sports have been captivating humankind for thousands of years, with written references dating to the first century CE. They evolved as a branch of modern croquet and golf, as a kind of indoor table version, and much of the modern nomenclature can be traced back to that common root. Cue sports today are vastly popular, and comprise variations such as pool, billiards, carom, snooker, and many other local flavors. In a 2005 U.S. survey, pool ranked as the eighth most popular participation sport in that country, with more than 35 million people playing that year. Leagues and tournaments exist in nearly every country worldwide, with strong appeal to both experienced and casual players alike.A number of robotic cue-players have been developed over the years. The first such system was the Snooker Machine from University of Bristol, United Kingdom, in the late 1980s (Chang 1994). This system comprised an articulated manipulator inverted over a 1/4-sized snooker table. A single monochrome camera was used to analyze the ball positions, and custom control and strategy software was developed to plan and execute shots. The system was reported to perform moderately well, and could pot simple shots. Since then, there have been a number of other attempts at automating pool, including Alian et al. (2004) and Lin, Yang, and Yang (2004).Developing a complete robotic system that can be competitive against an accomplished human player is a significant challenge. The most recent, and likely most complete system to date, is Deep Green from Queen's University, Canada (Greenspan et al. 2008), shown in figure 1. This system uses an industrial gantry robot ceiling-mounted over a full-sized pool table. High-resolution FireWire cameras are mounted on both the ceiling to identify and localize the balls, and on the robotic wrist to correct for accumulated error and fine-tune the cue position prior to a shot. This system has been integrated with the physics simulator used in the computational pool tournaments and the strategy software developed to plan shots. Complex

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A robust controller for a two-layered approach applied to the game of billiards

Landry

Dussault

Mahey

2012

Entertainment Computing

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Planning issues in a continuous domain in the presence of noise lead to important modeling and computational difficulties. The game of billiards has offered many interesting challenges to both communities of AI and Optimization. We present a two-layered approach consisting in a high level planner and a low level controller. We propose here a refined controller for billiards based on robust optimization combined with specific adjustments to take advantage of the domain knowledge. A multi-objective formulation of a robust controller will be presented to provide the tools needed to execute any desired shot on the table, as part of a two-layered approach for the game of billiards. Some results will be then shown, followed by a short discussion on future work.

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Toward a Competitive Pool-Playing Robot

Cited by 14 publications

References 5 publications

Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution

Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution

Computational Pool: A New Challenge for Game Theory Pragmatics

A robust controller for a two-layered approach applied to the game of billiards

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