Robo Cup Kouretes Technical University of Crete Chania

Robo. Cup Kouretes Technical University of Crete Chania, Greece

Team Kouretes www. kouretes. gr

Robo. Cup Team Kouretes (Κουρήτες ) Kouretes – Robo. Cup team of the Technical University of Crete (2006) – ancient Cretan warriors who were protecting ancient god Zeus when he was born by Rhea in a cave in the mountains of Crete Robot Names – – – Επιμήδης (Epimedes) Ίδας (Idas) Ιάσιος (Iasios) Παιωναίος (Paioneus) Ηρακλής (Heracles) Kouretes 2010 www. kouretes. gr Page 3

Robo. Cup Team Kouretes Participation in Competitions – – – Robo. Cup 2006 German Open 2007 Robo. Cup 2007 Rome Cup 2008 Robo. Cup 2008 German Open 2009 Rome Cup 2009 Robo. Cup 2009 Med Open 2010 Robo. Cup@SETN’ 10 Robo. Cup 2010 Kouretes 2010 [ Bremen, Germany ] [ Hannover, Germany ] [ Atlanta, USA ] [ Rome, Italy ] [ Suzhou, China ] [ Hannover, Germany ] [ Rome, Italy ] [ Graz, Austria ] [ Rome, Italy ] [ Athens, Greece ] [ Singapore ] www. kouretes. gr Page 4

Robo. Cup Team Kouretes Participation in Exhibitions – – – – – Hi-Tech Innovators Partenariat 2007 [ Thessaloniki ] Techno. Town @ Villa Torlonia 2007 [ Rome, Italy ] Hellenic Conference on AI 2008 [ Syros, Greece ] Athens Digital Week 2008 [ Athens, Greece ] Festival della Creativita 2008 [ Firenze, Italy ] Hannover Messe [ Hannover, Germany ] Athens Digital Week 2009 [ Athens, Greece ] School. Fest 2010 [Athens, Greece ] Micropolis 2010 [Athens, Greece ] Athens Digital Week 2010 [Athens, Greece] Kouretes 2010 www. kouretes. gr Page 5

Robo. Cup Team Kouretes Distinctions – – – 2 nd place[ MSRS Simulation Challenge – Robo. Cup 2007 ] top 8 [ Standard Platform League, Webots – Robo. Cup 2008 ] 3 rd place[ Standard Platform League, Nao – Robo. Cup 2008 ] 1 st place [ Standard Platform League, MSRS – Robo. Cup 2008 ] 1 st place [ First Robotic Olympic Games, Rome Cup 2009 ] 6 th place[ Standard Platform League, Webots – Robo. Cup 2009 ] Kouretes 2010 www. kouretes. gr Page 6

Robo. Cup Team Kouretes 2010 Members Software Architecture – Alexandros Paraschos Communication – Evangelos Vazaios Object Recognition – Emmanuel Orfanoudakis Localization/Learning – Eleftherios Chatzilaris Obstacle Avoidance – Iris Kyranou Behavior Control – Nikolaos Spanoudakis Kouretes 2010 www. kouretes. gr Page 7

Robo. Cup Team Kouretes Publications Scientific Contributions – J. Pazis and M. G. Lagoudakis, Binary Action Search for Learning Continuous-Action Control Policies , Proceedings of the 26 th Intl Conf on Machine Learning (ICML), Montreal, Canada, 2009. – G. Pierris and M. G. Lagoudakis, An Interactive Tool for Designing Complex Robot Motion Patterns , Proceedings of the IEEE Intl Conf on Robotics and Automation (ICRA), Kobe, Japan, 2009. – J. Pazis and M. G. Lagoudakis, Learning Continuous-Action Control Policies , Proceedings of the IEEE Intl Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009. – S. Volioti and M. G. Lagoudakis, Histogram-Based Visual Object Recognition for the 2007 Four-Legged Robo. Cup League , Proceedings of the 5 th Hellenic Conf on Artificial Intelligence, Syros, 2008. – G. Kontes and M. G. Lagoudakis, Coordinated Team Play in the Robo. Cup Four-Legged League , Proceedings of the 19 th IEEE Intl Conf on Tools with Artificial Intelligence (ICTAI), 2007. Diploma Theses – Ευάγγελος Βαζαίος, A Distributed Cross-Platform Communication Framework for Robotic Teams , 2010 – Ελευθέριος Χατζηλάρης, Visual-Feature-based Self-Localization for Robotic Soccer , 2009 – Ανδρέας Πανάκος, Efficient Color Recognition under Varying Illumination Conditions , 2009 – Walid Σουλάκης, Reinforcement Learning for Robotic Walk , 2009 – Ευστάθιος Βαφειάς, Kouretes MSRS Nao Simulation Team , 2009 – Γεώργιος Πιερρής, Soccer Skills for Humanoid Robots , 2009 Kouretes 2010 Learning Continuous-Action Control Policies www. kouretes. gr , 2008 Page 8 – Ιάσων Πάζης,

Κουρήτες Research Robo. Cup@TUC

Robo. Cup Team Kouretes Monad: Software Architecture Kouretes 2010 www. kouretes. gr Page 10

Robo. Cup Team Kouretes Narukom Communication : Kouretes 2010 www. kouretes. gr Page 11

Robo. Cup Team Kouretes Narukom Communication : Kouretes 2010 www. kouretes. gr Page 12

Robo. Cup Team Kouretes KCC: Color Recognition KCC tool – – – capturing labeling learning classification color table Kouretes 2010 www. kouretes. gr Page 13

Robo. Cup Team Kouretes Object Recognition Kouretes 2010 www. kouretes. gr Page 14

Robo. Cup Team Kouretes KLoc: Localization Monte-Carlo localization with an auxiliary particle filter Kouretes 2010 www. kouretes. gr Page 15

Robo. Cup Team Kouretes KLoc: Localization True (blue) and estimated (red) path of the robot with 6 landmarks Kouretes 2010 www. kouretes. gr Page 16

Robo. Cup Team Kouretes KLoc: Localization Kouretes 2010 www. kouretes. gr Page 17

Robo. Cup Team Kouretes Motion Editor Interactive Motion Design Kouretes 2010 www. kouretes. gr Page 18

Robo. Cup Team Kouretes Motion Editor Kouretes 2010 www. kouretes. gr Page 19

Robo. Cup Team Kouretes Skill Learning Balancing dynamically on one leg using the FSRs and the ankle joints Kouretes 2010 www. kouretes. gr Page 20

Robo. Cup Team Kouretes Mapping Local map – polar topology – sonar readings – odometry Map transformations – rotation Kouretes 2010 translation right translation left www. kouretes. gr translation and rotation Page 21

Robo. Cup Team Kouretes Obstacle Avoidance Kouretes 2010 www. kouretes. gr Page 22

Robo. Cup Team Kouretes Behavior Agents Systems Engineering Methodology (ASEME) Kouretes 2010 www. kouretes. gr Page 23

Robo. Cup Team Kouretes Behavior Statechart for Inter and Intra Agent Control Kouretes 2010 www. kouretes. gr Page 24

Robo. Cup Team Kouretes Behavior Statechart for Goalie Control Kouretes 2010 www. kouretes. gr Page 25

Robo. Cup Team Kouretes Putting Everything Together Robo. Cup 2010: Kouretes (B) vs. CHITA (R) Kouretes 2010 www. kouretes. gr Page 26

Robo. Cup Team Kouretes Acknowledgements Kouretes 2010 www. kouretes. gr Page 27

The End! Thank you for your attention! Questions?