p. 1 Champion Teams FC Portugal Team Description: RoboCup 2000 Simulation League Champion p. 29 The Cornell RoboCup Team p. 41 CS Freiburg: Doing the Right Thing in a Group p. 52 The UNSW RoboCup 2000 Sony Legged League Team p. 64 Challenge Award Finalists Adaptive Path Planner for Highly Dynamic Environments p. 76 Communication and Coordination Among Heterogeneous Mid-Size Players: ART99 p. 86...

In this paper, preliminary results from research for building a RoboSot category robot soccer team are reported. In the RoboSot category, no central station or over-head camera is allowed. Therefore several issues such as sensors, mechanisms and CPU boards must be taken into consideration before building an autonomous and intelligent system for this category. Each robot must have appropriate se...

Omni-directional vision allows for the development of techniques for mobile robot navigation that have minimum perceptual requirements. In this work, we focus on robot navigation algorithms that do not require range information or metric maps of the environment. More specifically, we present a homing strategy that enables a robot to return to its home position after executing a long path. The p...

Competitive bipedal soccer playing robots need to move fast and react quickly to changes in direction while staying upright. This paper describes the application of reinforcement learning to stabilise a flat-footed humanoid robot. An optimal control policy is learned using a physics simulator. The learned policy is supported theoretically and interpreted on a real robot as a linearised continuo...

In this paper, we focus on the “Vuton-II”, a new omni-directional vehicle developed as a transport vehicle to operate within factories, hospitals, and warehouses. This vehicle is composed of three or more “Omni-Discs.” The Omni-Disc mechanism ensures that individual wheels of the Omni-Disc assembly are always aligned in the same direction, and can always roll freely. The Vuton-II was based on t...

A more suitable motion planning method for an omni-directional mobile robot (OMR), an improved APF method (iAPF), is proposed in this paper by introducing the revolving factor into the artificial potential field (APF). Accordingly, the motion direction derived from traditional artificial potential field (tAPF) is regulated. The maximum velocity, maximum acceleration and energy consumption of th...

In this paper, we introduce a novel reservationbased multiple access protocol for ad hoc networks using directional antennas. First, we investigate the limitations of the extreme reservation schemes, namely omni-directional and directional reservations. We highlight the trade-off between spatial reuse (favors directional reservation) and control/data packet collisions (favors omni-directional r...

The development of an automated guided vehicle with omni-wheels for autonomous navigation under a robot operating system framework is presented in this paper. Specifically, laser rangefinder-constructed two-dimensional environment map integrated three-dimensional point cloud to achieve real-time positioning using the oriented features from accelerated segment test and rotated binary robust inde...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...