Case 4 Victo Training of Tactics

Steps for the creation of homeCase4-1 tactics

Role of Robot 1

Role of Robot 2

Video Simulation using socsim
Video Clip 1
Steps for the creation of homeCase4-2 tactics

Role of Robot 1

Role of Robot 2

Video Simulation using socsim
Video Clip 1

Steps for the creation of homeCase4-3 tactics

Role of Robot 1

Role of Robot 2

Video Simulation using socsim
Video Clip Simulation 1
Steps for the creation of homeCase4-4 tactics

Role of Robot 1

Role of Robot 2

Video Simulation using socsim
Video Clip Simulation 1

Victo On hand Training at I-HUB on 30th October 2006

Victo Training Session for IT Trainers and Guests conducted at I-HUB Glasgow Science Office #-02-70
by Mr Elijh on 30th October 2006


Training Program Outline
Introduction of Robot Soccer – MIROSOT
- MIROSOT refers to Micro Soccer Robots
- introduced by Federation of International Robot-Soccer Association (FIRA)
- MIROSOT RULE @FIRA
- Distributed AI multi-agent systems
- Real-time motion control
Overview of Robot Soccer System
- Vision System
- Motion Control System
- Robots
- Soccer field and ball
- Software
Robot Soccer Vision System
- Camera
- Frame Grabber
- Video Cables
- Color Patches (on top of the robot)

Robot Soccer Motion Control Hardware
- RF Transmitter
- RF Receiver (inside the robot)
- RS 232 Cable
Robots
- Actuators (Motors)
- Motion Transmission Mechanism (Gears, Shafts , wheels etc)
- Chassis
- PCB Boards (of RF receiver, motion controller etc)
- Battery

Robot Soccer Playfield
- Size and Color
- Soccer Ball
- Playfield setup
- Small, Medium and Large Leagues
Software for Robot Soccer System
- “Brain” of a robot soccer system
- Graphical User Interface
- Test Grab application
- Test Communication application
- Color Recognition Calibration
- Game simulator
- Real-time game controller
Game parameters
- Vision Setup
- Communication Setup
- Ball recognition
- Team Color
- Striker, Defender and Goalie ID
- Field Boundary
Strategy Programming
- Command Structure
o Basic
o Soldier
o General
- Understanding Basic Strategy
- Creating New Strategy and Tactics
- Creating Tactics using a series of actions
- Verifying strategy effectiveness using simulator
- Advance knowledge of AI for good strategy creation
Game Play
- Loading teams strategy into simulator for a simulated Game Play
- Fine Tuning strategy to counter opponent’s tactics
- Game Play on actual Robot Soccer System


Introduction to Victo Vision and Socsim System


Click the top right icon to activate and Scrol down to read the swf file.
Photos












Video
Setting up the system
Watch the video
Connection of vision card
Watch the video
Setting the video card to frequency and channel
Watch the video
Adjusting the camera capturing system
Watch the video
Setting the robots to work
Watch the video 1
Watch the video 2
Watch the video 3
Summary of the final training program for the day
Watch the video

Case 3 Victo Mirosot Tactics Training at I-HUB

Steps for the creation of homeCase3-1 tactics

Role of Robot 1

Role of Robot 2

Video Simulation of test run on tactics
Video Clip on Socsim Simulation of Tactics
Steps for the creation of homeCase3-2 tactics

Role of Robot 1

Role of Robot 2

Video Simulation of test run on tactics
Video Clip on Socsim Simulation of Tactics
Steps for the creation of homeCase3-3 tactics

Role of Robot 1

Role of Robot 2

Video Simulation by using socsim
Video Clip 1
Steps for the creation of homeCase3-4 tactics

Role of Robot 1

Role of Robot 2

Video Simulation by using socsim
Video Clip 1
Video Clip 2

Making Up Tactics

Making up Tactics
Condition 1: Case of the ball in our Team's Area
Cases of the ball in our team's area divided as follows:



Sub-Condition1: The ball in the upper part and the robots in our team's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.



Sub-Condition2: The ball in the lower part and the robots in our team's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Sub-Condition3: The ball in the upper part and the robots in opponent's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Sub-Condition4: The ball in the lower part and the robots in the opponent's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Condition 2: Case of the ball in the opponent's area

Sub-Condition1: The ball in the upper part and the robots in the opponent's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.



Sub-Condition2: The ball in the lower part and the robots in the opponent's area

Case 1: Robot 1 in the lower part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Sub-Condition3: The ball in the upper part and the robots in our team's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Sub-Condition4: The ball in the lower part and the robots in our team's area

Case 1: Robot 1 in the upper part and robot 2 in the lower part
Case 2: Robot 2 in the upper part and robot 1 in the lower part
Case 3: Robot 1 and Robot 2 in the upper part.
Case 4: Robot 1 and Robot 2 in the lower part.


Steps for the creation of homecase1-1 tactics

The territory for Robot 1 is in the upper half of the playfield

The setting for the role of Robot 1 is in attack mode

The territory for robot 2 is in lower left hand corner of the playfield and is position to new position towards the opponent's side
The ball is positioned in the top left hand corner of the playfield

Video for the testing of simulation for HomeCase1-1 tactics
Watch a short video clip


Steps for the creation of homecase1-2 tactics

Role of robot 1

Role of robot 2

Video
Testing of HomeCase1-2 on the simulator


Steps for the creation of Tactics HomeCase1-3

Role of Robot 1 as attacker

Role of Robot 2 as position move

Simulation run for tactics HomeCase1-3
Video clip on HomeCase1-3 tactics


Steps for the creation of Tactics HomeCase1-4

Role of Robot 1 as attacker

Role of Robot 2 as defender

Simulation run of HomeCase1-4
Video 1 clip on HomeCase1-4 tactics
Video 2 clip on HomeCase1-4 tactics
Steps for the creation of homeCase2-1 tactics

Role of Robot 1

Role of Robot 2

Video Simulation of Tactics
Watch the Video Clip 1
Watch the Video Clip 2
Steps for the creation of homeCase2-2 tactics

Role of Robot 1

Role of Robot 2

Video Simulation of Tactics
Watch the Video Clip 1
Steps for the creation of homeCase2-3 tactics

Role of Robot 1

Role of Robot 2

Video simulation of tactics
Short video clip on simulation
Steps for the creation of homeCase2-4 tactics

Role of Robot 1

Role of Robot 2

Video simulation of tactics
Short video clip on simulation

Victo Mirosot Training-2

Functions for Making up tactics
To make a new tactic, click the right side of the strategy window and enter the name you need
2 photos


After entering the name, 3 different modes in the tactics window will appear.
Type in new tactics



Right click on the soldier mode to make a tactic and select the Condition Add menu.






Enter tactic_01 and clikc OK.




Set up the position of robot 1 and the ball.
In this example we set the robot 1 in left half of the playfield
Ball is located on upper quarter corner of the playfield


Roles of a Robot

Position Move
The robot moves to the selected position.

Turn
The robot changed the current postion to a specific position.

Behind the ball

Dribble
The robot dirves the ball. Final target is the opponent's goal line.

Shoot
The robot shoots the ball for the opponent's goal line.

Attack
The robot will move behind the ball, dribble, and shooing for the robot.


Below is the tactic we created to move robot 1 to a selected position if the robot is in our team area and the ball is above the robot 1.



After saving the tactics made, operate and test through the use of simulator.
Choose Soldier mode, the following photo will appear

Cancel Basic Strategy so that it does not include the basic strategy.
Delete all robots unnecessary in the playfield.
Try to move the robot1 and the ball to the territory one made in the tactic.
The photo will appear.

Victo Mirosot Training -1

Victo Mirosot Training at I-HUB
Creating tactics with a series of Action.
One can set a robot to move the location, to make a turn and then kick the ball.
Let's make a tactics to move the robot and to shoot the ball to the goal.
Name the tactics as Robot1-Move and Robot1-Shoot with the robot sphere and the ball sphere

Position Move of Robot 1

Position Shoot of Robot 1

Video Clip of Simulation

Watch the short clip of Victo Simulation of Game Strategy for move and shoot for Robot 1
This simulation is done with basic strategy turned off.