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Download RoboCup 2004: Robot Soccer World Cup VIII by Pedro Lima, Luis Custódio (auth.), Daniele Nardi, Martin PDF

By Pedro Lima, Luis Custódio (auth.), Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor (eds.)

ThesearetheproceedingsoftheRoboCup2004Symposium,heldattheInstituto greater T´ ecnico, in Lisbon, Portugal at the side of the RoboCup c- petition. The papers awarded right here record the numerous thoughts in robotics that end result from RoboCup. an issue in any department of technological know-how or engineering is easy methods to devise assessments that may offer target comparisons among alt- local tools. lately, aggressive engineering demanding situations were demonstrated to inspire researchers to take on di?cult difficulties whereas offering a framework for the comparability of effects. RoboCup was once one of many ?rst such competitions and has been a version for the association of demanding situations foll- ing sound scienti?c ideas. as well as the contest, the linked symposium presents a discussion board for researchers to provide refereed papers. yet, for RoboCup, the symposium has the higher aim of encouraging the alternate of principles among groups in order that the contest, as an entire, progresses from yr to 12 months and strengthens its contribution to robotics. 100 and eighteen papers have been submitted to the Symposium. every one paper was once reviewed by way of not less than overseas referees; 30 papers have been - cepted for presentation on the Symposium as complete papers and yet another 38 have been permitted for poster presentation. the standard of the Symposium couldn't be maintained with no the help of the authors and the beneficiant suggestions of the referees.

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Extra resources for RoboCup 2004: Robot Soccer World Cup VIII

Sample text

The two figures represent two different estimates of the robot’s position, differing by less than 20 degrees and 20cm. They result in very different predicted ball positions after collision with the border, with (a) in front of the robot and (b) behind conditioned on a sampled robot position, which can be assumed to be the true robot position. This will be elaborated further in the next section. Finally, the None state transition back to itself by default, hence it takes up the residual probability after computing the previously mentioned transitions.

Experimental results are presented in Section 4, followed by conclusions. 2 Related Work Tracking moving targets has received considerable attention in the robotics and target tracking communities. Kalman filters and variants thereof have been shown to be well suited for this task even when the target motion and the observations violate the linearity assumptions underlying these filters [2]. Kalman filters estimate posteriors over the state by their first and second moments only, which makes them extremely efficient and therefore a commonly used ball tracking algorithm in RoboCup [10].

Kwok and D. Fox (a) (b) Fig. 2. Effect of robot position on ball-environment interation. The two figures represent two different estimates of the robot’s position, differing by less than 20 degrees and 20cm. They result in very different predicted ball positions after collision with the border, with (a) in front of the robot and (b) behind conditioned on a sampled robot position, which can be assumed to be the true robot position. This will be elaborated further in the next section. Finally, the None state transition back to itself by default, hence it takes up the residual probability after computing the previously mentioned transitions.

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