Trends, Challenges and Adopted Strategies in RoboCup@Home

Abstract

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.

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

“…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.…”

RoboCup@Home Education 2020 Best Performance: RoboBreizh, a modular approach

“…MoveIt! [19] is an easy way to plan robotics movements, but it is not easy to create a movement compared to kinesthetic demonstrations (real world vs 2D interface). MoveIt!…”

Integrating a Mobile Robot Navigation Control, Visual Object Detection and Manipulation Using ROS and V-REP

“…That topic is read by the V-REP script and the velocities are scaled and applied. V-REP scales these signals and the range goes from -1.0 to 1.0, to the broader range of −240 × π/180 to 240 × π/180, to be applied individually in each wheel according to the rules defined in equations (1)(2)(3)(4). This cycle goes on until the robot has reached its destination (linear error is smaller than 0.05).…”

“…It involves object detection, position estimation, grasp planning and execution, and different techniques can be used in each of these steps, including computer vision and artificial intelligence. Previous research indicates that participating teams use different approaches and solutions for this problems [3]. Some of them are not easy to learn and put into practice.…”