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<div class="" style="line-height:1.38; margin-top:0pt; margin-bottom:0pt"><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">Dear RoboCup community,</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline"><br class="x_kix-line-break">
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">Our team, Luxembourg United, would like to announce that we will base our code on B-Human Code release 2016. </span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">We
will differ in the following parts:</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline"><br class="x_kix-line-break">
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Roles and Skills: we defined our roles through the CABSL language, created by B-Human. We implemented 4 roles inspired by the descriptions inside the B-Human report.
We are in the process of modifying them to have them ready before the first match.</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline"><br class="x_kix-line-break">
</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Kick Pose Provider: this provides a position relative to the ball for kicking towards a broader range of targets and for different kinds of kicks.</span></div>
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Goalie Pose Provider: a module to control the position of the goalie to cover most part of the goal frame and at the same time keeping the goalie inside the penalty area.</span></div>
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<div class="" style="line-height:1.38; margin-top:0pt; margin-bottom:0pt"><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Kick Election Provider: we use a module to take the decision whether to kick the ball or not. This
is to make sure we always have one robot ready to kick the ball, while the others move without the ball as it is configured by the role provider.</span></div>
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<div class="" style="line-height:1.38; margin-top:0pt; margin-bottom:0pt"><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">Then we are addressing more complex and theoretical problems such as:</span></div>
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<div class="" style="line-height:1.38; margin-top:0pt; margin-bottom:0pt"><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Dynamic Role Provider module: we implemented a module to select the most appropriate role (defined
with a specific behavior and certain skills) based on some features, i.e. the position of the ball and teammates. In addition we are using machine learning techniques to take into account game configurations and strategic changes, to provide different formations
over the game.</span></div>
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Teammate/opponent detection using Convolutional Neural Networks: we attempt to improve on the state of the art, regarding the optimization of computational time (i.e.
Fast-Learning Shallow CNN). This involves additions to the following modules: PlayersPerceptors perception, ObstacleModelProvider and TeamPlayersLocator.</span></div>
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<div class="" style="line-height:1.38; margin-top:0pt; margin-bottom:0pt"><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">- Potential Field based Path Planning: depending on cases, this will either support or replace the VGPathPlanning
module and in some cases even supplement the FieldCoverage module.</span></div>
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">Many thanks to the B-Human team for releasing their code. This provided us with an extremely valuable kick start for this challenge. We also want to extend our thanks to
whole community which is providing us with so many resources and allows us to deepen our knowledge in this field. Particularly, we thank the Hulks team for inviting us to their RoHOW workshop and Pascal Loth for his great advices, and Heinrich Mellmann from
the Berlin United team.</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline"><br class="x_kix-line-break">
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</span><span class="" style="font-size:11pt; font-family:Arial; vertical-align:baseline">The Luxembourg United team</span></div>
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<div class="" style="orphans:2; widows:2; word-wrap:break-word"><span class="x_Apple-style-span" style="color:rgb(103,103,103)"><font face="Tahoma" size="2" class=""><b class="">Dr. Patrice Caire </b></font></span></div>
<div class="" style="orphans:2; widows:2; word-wrap:break-word"><span class="" style="font-size:12px"><a href="https://luxembourg-united.uni.lu" class="">Luxembourg United</a><span class="" style="color:rgb(103,103,103); font-family:Tahoma"> Lead</span></span></div>
<div class="" style="orphans:2; widows:2; word-wrap:break-word"><span class="" style="color:rgb(103,103,103); font-size:12px"><font face="Tahoma" class="">Luxembourg National robot soccer team</font></span></div>
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<div class="" style="word-wrap:break-word"><span class="x_Apple-style-span" style="color:rgb(103,103,103); font-family:Tahoma; font-size:12px"><br class="x_Apple-interchange-newline">
Luxembourg University, SnT</span></div>
<div class="" style="word-wrap:break-word"><span class="" style="font-size:12px"><span class="x_Apple-style-span" style="color:rgb(103,103,103); font-family:Tahoma">Social Robotics Lab, ARG, </span><span class="" style="color:rgb(103,103,103); font-family:Tahoma">Kirchberg</span></span></div>
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<font class="x_Apple-style-span" style="border-collapse:separate; color:rgb(103,103,103); font-family:Tahoma; border-spacing:0px; font-size:12px">Tel:+(352) 466644 5156</font></div>
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<font class="x_Apple-style-span" style="border-collapse:separate; color:rgb(103,103,103); font-family:Tahoma; border-spacing:0px; font-size:12px">GSM:+(352) 661 645 425</font></div>
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<span class="" style="font-size:12px"><a href="https://sites.google.com/site/patricecairewebpage/home" class="">Homepage</a></span></div>
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