[robocup-nao] Austrian Kangaroos RoboCup 2016 code usage announcement

Dietmar Schreiner schreiner at complang.tuwien.ac.at
Tue Jun 28 06:50:25 EDT 2016


According to the terms of the B-Human Code Release license and the
rUNSWift Code Release license we hereby announce the usage of the
aforesaid frameworks for team Austrian Kangaroos as base for our 2016
development.


The Austrian Kangaroos software contributes by modifications and
additions in the field of:

* AI & Team AI
We have implemented our own AI and behavior system, based on adaptive
behavior trees and hierarchical reactive steering.


* Vision
We have adapted/modified the B-Human vision module and added our ball
detector.

* Localization
We have implemented a constraint system for fast plausibility checks. We
also have extended our localization to map the background to recover
from a completely unknown location without team mates. We also do
perform verification of the current pose via team wide sensor fusion and
reasoned perception.


* Artificial Immune System
We have implemented an immune system for the robot based on the
Dendritic Cell Algorithm and have integrated it into the framework. The
system is meant to detect anomalies (caused by software but also by
hardware faults) and aims at increased reliability of our players.


* Communication
To overcome WLAN issues at tournaments we implemented acoustic as much
as IR-communication for the team. Therefore, our team AI should become
more robust in absence of a WLAN connection. We have also implemented a
robust whistle detector.


* Motion
We use the rUNSWift walking engine. In addition, we have implemented
basic motions for the Nao V5, and have implemented moves like
fast-side-kick, or slow-pass. We have also integrated a dynamic kick engine.



Cheers,
Dietmar

Austrian Kangaroos




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Dr. Dietmar Schreiner
Vienna University of Technology
Institute of Computer Languages - Compilers and Languages Group
Argentinierstrasse 8/185-1 :: A-1040 Vienna
Tel.: +43-1-58801-18501 :: Fax: +43-1-58801-18599
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