Thursday, October 8, 2015 - 4:00pm
Location:Rashid Auditorium 4401 Gates&Hillman Centers
Speaker:MANUELA VELOSO, Herbert A. Simon University Professor of Computer Science and Robotics http://www.cs.cmu.edu/~mmv
Our CMDragons team of autonomous soccer robots is the 2015 champion of the RoboCup Small Size League. The team won all of its six games, scoring a total of 48 goals and conceding 0. This unprecedented dominant performance is certainly the result of many algorithms, including a very effective defense, but we strongly credit our new coordinated, aggressive, and continuous offense. In the talk, we will present our coordination algorithm for real-time planning and execution at multiple behavioral levels: (i) a multi-robot play representation to map the state of the game to an appropriate set of tactical roles, (ii) the optimal robot-to-role assignment, (iii) coordinated evaluation to fully instantiate each role, and (iv) the probabilistic optimal action selection of individual robots. We demonstrate the effectiveness of the CMDragons-2015 team through results and statistics of the team performance at RoboCup 2015, and through controlled experiments using a physics-based simulator and an automated referee. The talk will be illustrated with the algorithm narration of the highlights of the real games. Finally, the talk will include a comprehensive historic overview of our research and team performance in robot soccer since its beginning in 1997. Highlights from the entire tournament, with every goal for which we have footage, can be found at: https://www.youtube.com/watch?v=YIWJbFjSOe8Detailed highlights from the final game (score 5-0) can be found at: https://www.youtube.com/watch?v=HhikJB24m7M The CMDragons research team is composed of Manuela Veloso, Joydeep Biswas, PhD RI, 2014, PhD students Juan Pablo Mendoza (RI), Richard Wang (CS), Danny Zhu (CS), Philip Cooksey (RI), and Master student Steven Klee (CS). The 10-year old robots were created by former CMU researcher Mike Licitra and remarkably maintained by Biswas and Wang.