Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

Mauro Dragone, Ruadhan O'Donoghue, John J. Leonard, Gregory O'Hare, Brian Duffy, Andrew Patrikalakis, Jacques Leederkerken, Brian W. Bowe, Gerald Byrne, Aidan J. Flanagan, Thomas J. Glynn, Jonathan Magee (+4 others)
2005 Opto-Ireland 2005: Photonic Engineering  
The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem
more » ... "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.
doi:10.1117/12.608404 fatcat:jloufm22wja3rdqnmzi5ulnml4