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Image Understanding and Knowledge-Based Systems
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Technical University of Munich

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Informatik IX

Image Understanding and Knowledge-Based Systems

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85748 Garching

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Agilo RoboCuppers: RoboCup Team Description (bibtex)
Agilo RoboCuppers: RoboCup Team Description (bibtex)
by T Bandlow, M Klupsch, R Hanek and T Schmitt
Abstract:
This paper describes the robot soccer team the Munich Agilo RoboCuppers the RoboCup team of the image understanding group (FG BV) at the Technische Universität München. The name is derived from the Agilolfinger, which were the first Bavarian ruling dynasty in the 8th century, with Tassilo as its most famous representative. With a team of five Pioneer 1 robots, equipped with CCD camera and a single board computer each and coordinated by a master PC outside the field we participate in the Middle Robot League of the Third International Workshop on RoboCup in Stockholm 1999. We use a multi-agent based approach to represent different robots and to encapsulate concurrent tasks within the robots. A fast feature extraction based on the image processing library HALCON provides the data necessary for the onboard scene interpretation. In addition, these features as well as the odometric data of the robots are sent over the net to the master PC, where they are verified with regard to consistency and plausibility and fusioned to one global view of the scene. The results are distributed to all robots supporting their local planning modules. This data is also used by the global planning module coordinating the team's behaviour.
Reference:
Agilo RoboCuppers: RoboCup Team Description (T Bandlow, M Klupsch, R Hanek and T Schmitt), In 3. RoboCup Workshop, IJCAI 99, 1999. 
Bibtex Entry:
@inproceedings{bandlow_agilo_1999,
 author = {T Bandlow and M Klupsch and R Hanek and T Schmitt},
 title = {Agilo {RoboCuppers:} {RoboCup} Team Description},
 booktitle = {3. {RoboCup} Workshop, {IJCAI} 99},
 year = {1999},
 pages = {691–694},
 abstract = {This paper describes the robot soccer team the Munich Agilo {RoboCuppers}
	the {RoboCup} team of the image understanding group ({FG} {BV)} at
	the Technische Universität München. The name is derived from the
	Agilolfinger, which were the first Bavarian ruling dynasty in the
	8th century, with Tassilo as its most famous representative. With
	a team of five Pioneer 1 robots, equipped with {CCD} camera and a
	single board computer each and coordinated by a master {PC} outside
	the field we participate in the Middle Robot League of the Third
	International Workshop on {RoboCup} in Stockholm 1999. We use a multi-agent
	based approach to represent different robots and to encapsulate concurrent
	tasks within the robots. A fast feature extraction based on the image
	processing library {HALCON} provides the data necessary for the onboard
	scene interpretation. In addition, these features as well as the
	odometric data of the robots are sent over the net to the master
	{PC}, where they are verified with regard to consistency and plausibility
	and fusioned to one global view of the scene. The results are distributed
	to all robots supporting their local planning modules. This data
	is also used by the global planning module coordinating the team's
	behaviour.},
}
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Informatik IX

Image Understanding and Knowledge-Based Systems

Boltzmannstrasse 3
85748 Garching

info@iuks.in.tum.de