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CoordinatedTeamPlay intheRoboCupFourLeggedLeague
Georgios Kontes andMichailG.Lagoudakis
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
CoordinatedTeamPlay intheRoboCupFourLeggedLeague Georgios Kontes - - PowerPoint PPT Presentation
CoordinatedTeamPlay intheRoboCupFourLeggedLeague Georgios Kontes - - PowerPoint PPT Presentation
CoordinatedTeamPlay intheRoboCupFourLeggedLeague Georgios Kontes andMichailG.Lagoudakis
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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RoboCup
RoboCup
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Extensions
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Vision
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Wheredowestandtoday?
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RoboCupSoccerLeagues
SimulationLeague
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SmallSizeRobotLeague
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MiddleSizeRobotLeague
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FourLeggedRobotLeague
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HumanoidRobotLeague
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WhyRoboCup?
ResearchChallenges
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Applicability
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RoboCup Participation
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Team
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2007Members
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TeamΚουρήτες(Kouretes)
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Wheretheteamstands...
Pioneer
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Participation
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Distinctions
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Website
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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FourLeggedLeague
Characteristics
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History
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Future
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SonyAIBOERS7Robots
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SonyAIBOERS7Robots
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FourLeggedLeagueField
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FourLeggedLeague
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FourLeggedGameFlow
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Kouretes inAction
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FourLeggedLeagueChallenges
Motion
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Vision
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Localization
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Behavior
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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TeamCoordination
Problem
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Why?
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Current“stateoftheart”
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ThePassingChallenge
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ExistingApproaches
Proximitybased?<I %888@
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Auctionbased?!@
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Shortcomings
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OurApproach
Coordination
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Benefits
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The442System
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RoboCup“442”System
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RolesandTactics
Roles
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Tactics
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Tactic#1:PassiveDefense
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Tactic#2:PressingDefense
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Tactic#3:CounterAttack
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Tactic#4:PassingAttack
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DynamicTacticSelection
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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PetriNetPlans(PNPs)
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ASimplePetriNetPlan
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RolesasPetriNetPlans
RolePNPs
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Hierarchy
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CounterAttackAttackerPNP
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SoftwareArchitecture
Evolution
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Code
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Behaviormodule
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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RobotCommunication
Constraints
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Messages
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Advantages
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CommunicationModule
Experiment
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Originalmodule
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Enhancedmodule
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CommunicationTests
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CommunicationExperiment
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Outline
RoboCup FourLeggedLeague TeamCoordination Implementation [Communication] Results
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PressingDefense(Defender)
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PressingDefense(Midfielder)
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PressingDefense(Attacker)
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PressingDefense(AllPlayers)
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SummaryofResults
ObservedTeamPlay
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Limitations
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Conclusion
Contribution
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Applicability
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FutureWork
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Acknowledgements
TechnicalUniversityofCrete,Chania
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ParishofPanagitsa,Kounoupidiana
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