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    Efficient localization for robot soccer using pattern matching


    Whelan, Thomas and Studli, Sonja and McDonald, John and Middleton, Richard H. (2012) Efficient localization for robot soccer using pattern matching. In: Leveraging Applications of Formal Methods, Verification, and Validation. Communications in Computer and Information Science book series (CCIS) (336). Springer, pp. 16-30. ISBN 9783642347801

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    Abstract

    One of the biggest challenges in the RoboCup Soccer Standard Platform League (SPL) is autonomously achieving and maintaining an accurate estimate of a robot’s position and orientation on the field. In other robotics applications many robust systems already exist for localization such as visual simultaneous localization and mapping (SLAM) and LIDAR based SLAM. These approaches either require special hardware or are very computationally expensive and are not suitable for the Nao robot, the current robot of choice for the SPL. Therefore novel approaches to localization in the RoboCup SPL environment are required. In this paper we present a new approach to localization in the SPL which relies primarily on the information contained within white field markings while being efficient enough to run in real time on board a Nao robot.

    Item Type: Book Section
    Additional Information: This is the postprint version of the published paper. Cite this paper as: Whelan T., Stüdli S., McDonald J., Middleton R.H. (2012) Efficient Localization for Robot Soccer Using Pattern Matching. In: Hähnle R., Knoop J., Margaria T., Schreiner D., Steffen B. (eds) Leveraging Applications of Formal Methods, Verification, and Validation. Communications in Computer and Information Science, vol 336. Springer, Berlin, Heidelberg
    Keywords: localization; robot soccer; pattern matching; RoboCup Soccer Standard Platform League (SPL); visual simultaneous localization and mapping (SLAM); Nao robot;
    Academic Unit: Faculty of Science and Engineering > Computer Science
    Item ID: 8317
    Identification Number: https://doi.org/10.1007/978-3-642-34781-8_2
    Depositing User: John McDonald
    Date Deposited: 13 Jun 2017 09:05
    Publisher: Springer
    Refereed: Yes
    Funders: Science Foundation Ireland
    URI:

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