Robocup Standard Platform League - rUNSWift 2012 Innovations

摘要

Robotic competitions encourage a developmental style of research and development where large scale robotic systems are incrementally constructed as a whole. This diers from the typical research approach of solving a specic problem in isolation, but is a crucial part of reaching the long-term goals of complex AI systems. This paper outlines the innovation and development of the autonomous UNSW multirobotic system (rUNSWift) that was entered in the Standard Platform Soccer League at the International RoboCup competition in 2012. The challenge is to deliver real-time functionality within the limited resources of an on-board processor. Novel developments in 2012 include: SLAM using one-dimensional SURF features with visual-odometry as a by-product; extending foveated imaging to eld-line detection; a unied eld-feature sensor model; a dual-mode Kalman lter to help disambiguate the symmetric eld; robot-detection data-fusing visual and sonar observations; multi-robot tracking of the ball; and omni-directional kicking. The rUNSWift system was ranked in the top three world-wide.