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8 June 2005 Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments
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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 of "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.
© (2005) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Mauro Dragone, Ruadhan O'Donoghue, John J. Leonard, Gregory O'Hare, Brian Duffy, Andrew Patrikalakis, and Jacques Leederkerken "Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments", Proc. SPIE 5827, Opto-Ireland 2005: Photonic Engineering, (8 June 2005);


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