robocup 中文意思是什麼

This paper was based on robocup legged - robot group which uses sony aibo robot as experimental object. with the platform of gt2004 published by germanteam in 2004, combining the image information taken by the robot ’ s own camera with recent self - localization approach, the paper implemented real - time localization process under the real dynamic environment and met the need of robocup new rules. on the condition of wireless network communication and accurate pose estimation, the dynamic role assignment and coordination among multi - agents became possible

本文基於robocup四腿機器人足球比賽，以比賽組委會指定的aibo機器狗為實驗對象，以國際robocup2004四腿機器人足球比賽冠軍德國隊公布的gt2004為研發平臺，為適應新的比賽場地和比賽規則，主要運用自主體本身所採集的圖像信息，結合最新的圖像處理手段和自主定位演算法，從而估算出自主體在動態特徵比賽環境下的實時位姿，並藉助無線網路通訊手段和自主定位的結果，實現多自主體的動態角色分配和協調控制過程。

More significantly, humanoid robots took to the robocup pitch for the first time

兩條腿的機器人還跑不起來，因此以步行速度來比賽。

Too bad, york has no such robot competition teams, not even the robocup

但到時即使沒真本事，至少有張亮麗的文憑。

At present, most mobile robots use traditional servo motors as their drivers. this kind of system has a complex mechanism, high price, and a big deadweight. so, it can not need the robocup robot system

目前國內外移動機器人平臺通常採用傳統的伺服電機作為驅動部件，存在結構復雜，價格昂貴，自重較大等問題，不能很好地滿足足球機器人系統的需要。

However, because coordination graph needs discrete state variant, it ca n ' t be applied in continuous state space such as robocup which communication condition is limited

但是協作圖要求離散狀態變量，所以無法直接應用到類似robocup這種通訊條件受到限制的連續狀態空間。

There are lots of considerations in the process of a simulation league designing : the communication between clients and server, message parsing, the architecture of agent, the training of agent ' s skills, the collaboration among agents, the confrontation with opponents and the strategy of whole team, etc. in the process, we focused our mind on the following aspects : first, the author designed a layered mixed agent architecture suite for robocup

構建一支robocup模擬球隊需要做很多工作，其中包括client與server間的通訊、消息的解析、 agent的結構設計、 agent的基本技能訓練、多個agent間的協作、與對手的對抗及球隊策略的安排等等。

The main work of the thesis is as follows : we design a novel omni - mirror more applicable in robocup, which is made up of an isomeric horizontal mirror and an isomeric vertical mirror and can make the resolution of the imaging of the objects near the robot on the field constant and make the distortion of the imaging of the objects far from the robot small in vertical direction ; we select a 1394 digital color camera and complete the development of its software program for data acquisition ; we design a image processing algorithm for the panoramic image, which can segment the image by color, extract the features of image fast and effectively and complete the recognization of target ; according the character of the imaging, we design a new fast hough transform algorithm for line detection, which can detect the white mark lines of the field realtimely, and then design a robot ’ s self - localization method based the mark lines, which only uses the information of omni - vision system ; finally we design a monte carlo localization method based on the information of omni - vision system and odometry, and present the localization results of two localization methods and analyze the experiment results and get the conclusions

本論文的主要工作如下:設計了一種新的更適用於機器人足球賽的全向反射鏡面，該鏡面由水平等比鏡面和垂直等比鏡面組合而成，能夠使機器人近處一定范圍內水平場地上的物體成像解析度不變，遠處物體成像高度上變形較小;選擇了一款基於1394介面的數字攝像機，並完成其數據採集程序開發;針對全景圖像設計了圖像處理演算法，能夠快速有效的實現圖像顏色分割和圖像特徵提取，完成目標識別;根據全景圖像的成像特性，設計了一種新的用於直線檢測的快速hough變換演算法，能夠實時的提取出場地的白色標志線，並在此基礎上設計了完全利用全向視覺信息的基於標志線的機器人自定位方法;最後設計了一種基於全向視覺信息和里程計信息的montecarlo定位方法，給出兩種方法的定位結果，並分析實驗結果，給出結論。

While, some algorithms of machine learning are introduced to get the intelligence of the individual of hfutagent which makes individual skills in the robocup. finally, we realize the multi - agent cooperation mechanism using the knoledge of soccer experts. in our system, a typical cooperation method in robocup called sbsp is used, and we explains how to use reinforcement learning method to reach the goal of local cooperation, and the offense and defense strategy system is build by decision - theoretic

在本文中，首先介紹了典型的agent結構和mas模型和模擬機器人足球的一些主要模型：設計了一個分層的agent結構? hfutagent ，通過機器學習演算法實現了agent的個體智能；最後結合足球領域專家的知識實現了agent間的協作，其中使用了robocup中一個典型的協作方法- sbsp ，設計了一個通過強化學習的方法來達到agent之間的局部協作，把基於效用的對策論方法引入了hfutteam的進攻體系和防守體系中。

A method of fast segmentation and indentification in vision system of middle - size robots robocup

中型組足球機器人的圖像識別演算法

It is a highlight on the study of robocup middle size in robot soccer game today

Robocup中型組足球機器人，是當今機器人足球研究的一個熱點。

Analysis of the framework of client team in robocup simulation

模擬比賽客戶端體系結構分析

Robocup small soccer robot modeling and simulation platform

小型足球機器人建模及模擬平臺研究

Analysis of the framework of client team in robocup simulation league

模擬比賽客戶端體系結構分析

Strategy of pass in robocup simulation

模擬組的傳球策略

Vision - based localization for autonomous mobile robot in robocup : a survey

自主移動機器人足球比賽視覺定位方法綜述

In second part we give an overview of the architecture of small size robocup

第二章分析了robocup小型組的整體結構。

Robotic football team who won the 3rd prize in the robocup simulation league in 1999

年模擬組機器人足球杯賽的獎杯。

Robocup is an annual international competition designed to foster innovation in intelligent robotics. nist hoped the nano - soccer competition would provide scientists with information about the feasibility of tiny computer technologies

「機器人足球世界盃」是一項旨在促進智能機器人技術創新的年度國際賽事。美國國家標準與技術研究院希望通過舉辦這次納米足球賽，為科學家們提供有關微型計算機技術可行性方面的信息。

Finally the decision - making subsystem gives the output velocity of both wheels of the robot, and the real - time control is realized. on studying the robocup ' s decision - making subsystem of distributed control mode, it discusses the environment of the simulator match, the architecture of soccerserver and its work mechanism in details, which is very significant to theory research, including the important parameters of soccerserver, communication between soccerserver and clients, visual - audio and physical information of agents, etc. then it uses a client program to demonstrate the process of communication and how the sending command worked

而在設計以robocup比賽為代表的分佈控制式決策系統時，首先對最具有理論意義的模擬比賽環境及soccerserver的結構和運行機制進行了詳細闡述和分析，包括： soccerserver中的重要運行參數、與client之間的通訊方式、球員的視覺、聽覺信息及體力的模擬模型等；接著編寫客戶端程序來清楚查看通訊信息和命令執行情況；最後給出帶狀態分類的決策系統演算法。

The thesis designs and implements a novel omni - vision system for the application in the middle - size league of robocup ? the world cup of soccer robots, and does research on the robot ’ s self - localization methods based on the omni - vision system

本論文以robocup中型組機器人足球賽為應用背景，設計並實現了一種新型全向視覺系統，並在此基礎上重點進行基於全向視覺系統的機器人自定位方法研究。