Publication
Coordinated Pitch Observation for a Humanoid Robot Soccer Team
Felix Wenk; Thomas Röfer
In: Sven Behnke; Peter Stone; Thomas Röfer (Hrsg.). Proceedings of the Sixth Workshop on Humanoid Soccer Robots in conjunction with the 2011 IEEE-RAS International Conference on Humanoid Robots (Workshop 5). Workshop on Humanoid Soccer Robots (Humanoids-2011), 6th, located at in conjunction with the 2011 IEEE-RAS International Conference on Humanoid Robots, October 26, Bled, Slovenia, IEEE, 2011.
Abstract
While the quality of matches between the teams in the RoboCup Standard Platform League has increased a lot, there are still certain situations that prevent the game from progressing. One of the most severe ones is when a team loses track of the ball, because it cannot score goals or prevent the opponent team from scoring goals without knowing where the ball is. In this paper a method is presented to quickly find the ball again by searching the least-recently observed parts of the pitch. A consistent model shared by all robots of the team to identify these parts of the field is explained, as well as the procedure to coordinate the observation among the teammates, such that a varying number of robots can participate in the process.