Obstacle Detection, Identification and Sharing on a Robotic Soccer Team
Identifieur interne : 000E90 ( Istex/Corpus ); précédent : 000E89; suivant : 000E91Obstacle Detection, Identification and Sharing on a Robotic Soccer Team
Auteurs : João Silva ; Nuno Lau ; Ant Nio J. R. Neves ; João Rodrigues ; José Luís AzevedoSource :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2009.
Abstract
Abstract: When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.
Url:
DOI: 10.1007/978-3-642-04686-5_29
Links to Exploration step
ISTEX:40655552F766226F48D9CFF3F9A8373C565EC9AFLe document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct:series"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title><author><name sortKey="Silva, Joao" sort="Silva, Joao" uniqKey="Silva J" first="João" last="Silva">João Silva</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: joao.m.silva@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Lau, Nuno" sort="Lau, Nuno" uniqKey="Lau N" first="Nuno" last="Lau">Nuno Lau</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: nunolau@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Neves, Ant Nio J R" sort="Neves, Ant Nio J R" uniqKey="Neves A" first="Ant Nio J. R." last="Neves">Ant Nio J. R. Neves</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: an@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Rodrigues, Joao" sort="Rodrigues, Joao" uniqKey="Rodrigues J" first="João" last="Rodrigues">João Rodrigues</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: jmr@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Azevedo, Jose Luis" sort="Azevedo, Jose Luis" uniqKey="Azevedo J" first="José Luís" last="Azevedo">José Luís Azevedo</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: jla@ua.pt</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:40655552F766226F48D9CFF3F9A8373C565EC9AF</idno><date when="2009" year="2009">2009</date><idno type="doi">10.1007/978-3-642-04686-5_29</idno><idno type="url">https://api.istex.fr/document/40655552F766226F48D9CFF3F9A8373C565EC9AF/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">000E90</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" wicri:corpus="ISTEX">000E90</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title><author><name sortKey="Silva, Joao" sort="Silva, Joao" uniqKey="Silva J" first="João" last="Silva">João Silva</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: joao.m.silva@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Lau, Nuno" sort="Lau, Nuno" uniqKey="Lau N" first="Nuno" last="Lau">Nuno Lau</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: nunolau@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Neves, Ant Nio J R" sort="Neves, Ant Nio J R" uniqKey="Neves A" first="Ant Nio J. R." last="Neves">Ant Nio J. R. Neves</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: an@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Rodrigues, Joao" sort="Rodrigues, Joao" uniqKey="Rodrigues J" first="João" last="Rodrigues">João Rodrigues</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: jmr@ua.pt</mods:affiliation></affiliation></author><author><name sortKey="Azevedo, Jose Luis" sort="Azevedo, Jose Luis" uniqKey="Azevedo J" first="José Luís" last="Azevedo">José Luís Azevedo</name><affiliation><mods:affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: jla@ua.pt</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2009</date></imprint><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">40655552F766226F48D9CFF3F9A8373C565EC9AF</idno><idno type="DOI">10.1007/978-3-642-04686-5_29</idno><idno type="ChapterID">29</idno><idno type="ChapterID">Chap29</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.</div></front></TEI><istex><corpusName>springer</corpusName><author><json:item><name>João Silva</name><affiliations><json:string>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</json:string><json:string>E-mail: joao.m.silva@ua.pt</json:string></affiliations></json:item><json:item><name>Nuno Lau</name><affiliations><json:string>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</json:string><json:string>E-mail: nunolau@ua.pt</json:string></affiliations></json:item><json:item><name>António J. R. Neves</name><affiliations><json:string>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</json:string><json:string>E-mail: an@ua.pt</json:string></affiliations></json:item><json:item><name>João Rodrigues</name><affiliations><json:string>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</json:string><json:string>E-mail: jmr@ua.pt</json:string></affiliations></json:item><json:item><name>José Luís Azevedo</name><affiliations><json:string>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</json:string><json:string>E-mail: jla@ua.pt</json:string></affiliations></json:item></author><language><json:string>eng</json:string></language><abstract>Abstract: When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.</abstract><qualityIndicators><score>7.755</score><pdfVersion>1.6</pdfVersion><pdfPageSize>430 x 660 pts</pdfPageSize><refBibsNative>false</refBibsNative><keywordCount>0</keywordCount><abstractCharCount>1590</abstractCharCount><pdfWordCount>3255</pdfWordCount><pdfCharCount>18483</pdfCharCount><pdfPageCount>11</pdfPageCount><abstractWordCount>254</abstractWordCount></qualityIndicators><title>Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title><genre.original><json:string>OriginalPaper</json:string></genre.original><chapterId><json:string>29</json:string><json:string>Chap29</json:string></chapterId><genre><json:string>conference [eBooks]</json:string></genre><serie><editor><json:item><name>David Hutchison</name><affiliations><json:string>Lancaster University, Lancaster, UK</json:string></affiliations></json:item><json:item><name>Takeo Kanade</name><affiliations><json:string>Carnegie Mellon University, Pittsburgh, PA, USA</json:string></affiliations></json:item><json:item><name>Josef Kittler</name><affiliations><json:string>University of Surrey, Guildford, UK</json:string></affiliations></json:item><json:item><name>Jon M. Kleinberg</name><affiliations><json:string>Cornell University, Ithaca, NY, USA</json:string></affiliations></json:item><json:item><name>Friedemann Mattern</name><affiliations><json:string>ETH Zurich, Zurich, Switzerland</json:string></affiliations></json:item><json:item><name>John C. Mitchell</name><affiliations><json:string>Stanford University, Stanford, CA, USA</json:string></affiliations></json:item><json:item><name>Moni Naor</name><affiliations><json:string>Weizmann Institute of Science, Rehovot, Israel</json:string></affiliations></json:item><json:item><name>Oscar Nierstrasz</name><affiliations><json:string>University of Bern, Bern, Switzerland</json:string></affiliations></json:item><json:item><name>C. Pandu Rangan</name><affiliations><json:string>Indian Institute of Technology, Madras, India</json:string></affiliations></json:item><json:item><name>Bernhard Steffen</name><affiliations><json:string>University of Dortmund, Dortmund, Germany</json:string></affiliations></json:item><json:item><name>Madhu Sudan</name><affiliations><json:string>Massachusetts Institute of Technology, MA, USA</json:string></affiliations></json:item><json:item><name>Demetri Terzopoulos</name><affiliations><json:string>University of California, Los Angeles, CA, USA</json:string></affiliations></json:item><json:item><name>Doug Tygar</name><affiliations><json:string>University of California, Berkeley, CA, USA</json:string></affiliations></json:item><json:item><name>Moshe Y. Vardi</name><affiliations><json:string>Rice University, Houston, TX, USA</json:string></affiliations></json:item><json:item><name>Gerhard Weikum</name><affiliations><json:string>Max-Planck Institute of Computer Science, Saarbrücken, Germany</json:string></affiliations></json:item></editor><issn><json:string>0302-9743</json:string></issn><language><json:string>unknown</json:string></language><eissn><json:string>1611-3349</json:string></eissn><title>Lecture Notes in Computer Science</title><copyrightDate>2009</copyrightDate></serie><host><editor><json:item><name>Luís Seabra Lopes</name><affiliations><json:string>IEETA/Department of Electronics & Telecommunication, University of Aveiro, Campus Santiago, P.O. Box, 3810-153, Aveiro, Portugal</json:string><json:string>E-mail: lsl@ua.pt</json:string></affiliations></json:item><json:item><name>Nuno Lau</name><affiliations><json:string>LSE-IEETA/DETI, Universidade de Aveiro, Portugal</json:string><json:string>E-mail: nunolau@ua.pt</json:string></affiliations></json:item><json:item><name>Pedro Mariano</name><affiliations><json:string>Universidade de Aveiro, Aveiro, Portugal</json:string><json:string>E-mail: plsm@ua.pt</json:string></affiliations></json:item><json:item><name>Luís M. Rocha</name><affiliations><json:string>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia, Portugal</json:string><json:string>E-mail: rocha@indiana.edu</json:string></affiliations></json:item></editor><subject><json:item><value>Computer Science</value></json:item><json:item><value>Computer Science</value></json:item><json:item><value>Artificial Intelligence (incl. Robotics)</value></json:item><json:item><value>User Interfaces and Human Computer Interaction</value></json:item><json:item><value>Simulation and Modeling</value></json:item><json:item><value>Computer Imaging, Vision, Pattern Recognition and Graphics</value></json:item><json:item><value>Information Systems Applications (incl.Internet)</value></json:item><json:item><value>Data Mining and Knowledge Discovery</value></json:item></subject><isbn><json:string>978-3-642-04685-8</json:string></isbn><language><json:string>unknown</json:string></language><eissn><json:string>1611-3349</json:string></eissn><title>Progress in Artificial Intelligence</title><genre.original><json:string>Proceedings</json:string></genre.original><bookId><json:string>978-3-642-04686-5</json:string></bookId><volume>5816</volume><pages><last>360</last><first>350</first></pages><issn><json:string>0302-9743</json:string></issn><genre><json:string>Book Series</json:string></genre><eisbn><json:string>978-3-642-04686-5</json:string></eisbn><copyrightDate>2009</copyrightDate><doi><json:string>10.1007/978-3-642-04686-5</json:string></doi></host><publicationDate>2009</publicationDate><copyrightDate>2009</copyrightDate><doi><json:string>10.1007/978-3-642-04686-5_29</json:string></doi><id>40655552F766226F48D9CFF3F9A8373C565EC9AF</id><score>1</score><fulltext><json:item><original>true</original><mimetype>application/pdf</mimetype><extension>pdf</extension><uri>https://api.istex.fr/document/40655552F766226F48D9CFF3F9A8373C565EC9AF/fulltext/pdf</uri></json:item><json:item><original>false</original><mimetype>application/zip</mimetype><extension>zip</extension><uri>https://api.istex.fr/document/40655552F766226F48D9CFF3F9A8373C565EC9AF/fulltext/zip</uri></json:item><istex:fulltextTEI uri="https://api.istex.fr/document/40655552F766226F48D9CFF3F9A8373C565EC9AF/fulltext/tei"><teiHeader><fileDesc><titleStmt><title level="a" type="main" xml:lang="en">Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title><respStmt xml:id="ISTEX-API" resp="Références bibliographiques récupérées via GROBID" name="ISTEX-API (INIST-CNRS)"></respStmt></titleStmt><publicationStmt><authority>ISTEX</authority><publisher>Springer Berlin Heidelberg</publisher><pubPlace>Berlin, Heidelberg</pubPlace><availability><p>SPRINGER</p></availability><date>2009</date></publicationStmt><sourceDesc><biblStruct type="inbook"><analytic><title level="a" type="main" xml:lang="en">Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title><author><persName><forename type="first">João</forename><surname>Silva</surname></persName><email>joao.m.silva@ua.pt</email><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation></author><author><persName><forename type="first">Nuno</forename><surname>Lau</surname></persName><email>nunolau@ua.pt</email><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation></author><author><persName><forename type="first">António</forename><surname>Neves</surname></persName><email>an@ua.pt</email><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation></author><author><persName><forename type="first">João</forename><surname>Rodrigues</surname></persName><email>jmr@ua.pt</email><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation></author><author><persName><forename type="first">José</forename><surname>Azevedo</surname></persName><email>jla@ua.pt</email><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation></author></analytic><monogr><title level="m">Progress in Artificial Intelligence</title><title level="m" type="sub">14th Portuguese Conference on Artificial Intelligence, EPIA 2009, Aveiro, Portugal, October 12-15, 2009. Proceedings</title><idno type="pISBN">978-3-642-04685-8</idno><idno type="eISBN">978-3-642-04686-5</idno><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="DOI">10.1007/978-3-642-04686-5</idno><idno type="BookID">978-3-642-04686-5</idno><idno type="BookTitleID">191932</idno><idno type="BookSequenceNumber">5816</idno><idno type="BookVolumeNumber">5816</idno><idno type="BookChapterCount">55</idno><editor><persName><forename type="first">Luís</forename><forename type="first">Seabra</forename><surname>Lopes</surname></persName><email>lsl@ua.pt</email><affiliation>IEETA/Department of Electronics & Telecommunication, University of Aveiro, Campus Santiago, P.O. Box, 3810-153, Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Nuno</forename><surname>Lau</surname></persName><email>nunolau@ua.pt</email><affiliation>LSE-IEETA/DETI, Universidade de Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Pedro</forename><surname>Mariano</surname></persName><email>plsm@ua.pt</email><affiliation>Universidade de Aveiro, Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Luís</forename><forename type="first">M.</forename><surname>Rocha</surname></persName><email>rocha@indiana.edu</email><affiliation>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia, Portugal</affiliation></editor><imprint><publisher>Springer Berlin Heidelberg</publisher><pubPlace>Berlin, Heidelberg</pubPlace><date type="published" when="2009"></date><biblScope unit="volume">5816</biblScope><biblScope unit="page" from="350">350</biblScope><biblScope unit="page" to="360">360</biblScope></imprint></monogr><series><title level="s">Lecture Notes in Computer Science</title><editor><persName><forename type="first">David</forename><surname>Hutchison</surname></persName><affiliation>Lancaster University, Lancaster, UK</affiliation></editor><editor><persName><forename type="first">Takeo</forename><surname>Kanade</surname></persName><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation></editor><editor><persName><forename type="first">Josef</forename><surname>Kittler</surname></persName><affiliation>University of Surrey, Guildford, UK</affiliation></editor><editor><persName><forename type="first">Jon</forename><forename type="first">M.</forename><surname>Kleinberg</surname></persName><affiliation>Cornell University, Ithaca, NY, USA</affiliation></editor><editor><persName><forename type="first">Friedemann</forename><surname>Mattern</surname></persName><affiliation>ETH Zurich, Zurich, Switzerland</affiliation></editor><editor><persName><forename type="first">John</forename><forename type="first">C.</forename><surname>Mitchell</surname></persName><affiliation>Stanford University, Stanford, CA, USA</affiliation></editor><editor><persName><forename type="first">Moni</forename><surname>Naor</surname></persName><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation></editor><editor><persName><forename type="first">Oscar</forename><surname>Nierstrasz</surname></persName><affiliation>University of Bern, Bern, Switzerland</affiliation></editor><editor><persName><forename type="first">C.</forename><surname>Pandu Rangan</surname></persName><affiliation>Indian Institute of Technology, Madras, India</affiliation></editor><editor><persName><forename type="first">Bernhard</forename><surname>Steffen</surname></persName><affiliation>University of Dortmund, Dortmund, Germany</affiliation></editor><editor><persName><forename type="first">Madhu</forename><surname>Sudan</surname></persName><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation></editor><editor><persName><forename type="first">Demetri</forename><surname>Terzopoulos</surname></persName><affiliation>University of California, Los Angeles, CA, USA</affiliation></editor><editor><persName><forename type="first">Doug</forename><surname>Tygar</surname></persName><affiliation>University of California, Berkeley, CA, USA</affiliation></editor><editor><persName><forename type="first">Moshe</forename><forename type="first">Y.</forename><surname>Vardi</surname></persName><affiliation>Rice University, Houston, TX, USA</affiliation></editor><editor><persName><forename type="first">Gerhard</forename><surname>Weikum</surname></persName><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation></editor><biblScope><date>2009</date></biblScope><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="seriesId">558</idno></series><series><title level="s">Lecture Notes in Artificial Intelligence</title><editor><persName><forename type="first">David</forename><surname>Hutchison</surname></persName><affiliation>Lancaster University, Lancaster, UK</affiliation></editor><editor><persName><forename type="first">Takeo</forename><surname>Kanade</surname></persName><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation></editor><editor><persName><forename type="first">Josef</forename><surname>Kittler</surname></persName><affiliation>University of Surrey, Guildford, UK</affiliation></editor><editor><persName><forename type="first">Jon</forename><forename type="first">M.</forename><surname>Kleinberg</surname></persName><affiliation>Cornell University, Ithaca, NY, USA</affiliation></editor><editor><persName><forename type="first">Friedemann</forename><surname>Mattern</surname></persName><affiliation>ETH Zurich, Zurich, Switzerland</affiliation></editor><editor><persName><forename type="first">John</forename><forename type="first">C.</forename><surname>Mitchell</surname></persName><affiliation>Stanford University, Stanford, CA, USA</affiliation></editor><editor><persName><forename type="first">Moni</forename><surname>Naor</surname></persName><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation></editor><editor><persName><forename type="first">Oscar</forename><surname>Nierstrasz</surname></persName><affiliation>University of Bern, Bern, Switzerland</affiliation></editor><editor><persName><forename type="first">C.</forename><surname>Pandu Rangan</surname></persName><affiliation>Indian Institute of Technology, Madras, India</affiliation></editor><editor><persName><forename type="first">Bernhard</forename><surname>Steffen</surname></persName><affiliation>University of Dortmund, Dortmund, Germany</affiliation></editor><editor><persName><forename type="first">Madhu</forename><surname>Sudan</surname></persName><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation></editor><editor><persName><forename type="first">Demetri</forename><surname>Terzopoulos</surname></persName><affiliation>University of California, Los Angeles, CA, USA</affiliation></editor><editor><persName><forename type="first">Doug</forename><surname>Tygar</surname></persName><affiliation>University of California, Berkeley, CA, USA</affiliation></editor><editor><persName><forename type="first">Moshe</forename><forename type="first">Y.</forename><surname>Vardi</surname></persName><affiliation>Rice University, Houston, TX, USA</affiliation></editor><editor><persName><forename type="first">Gerhard</forename><surname>Weikum</surname></persName><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation></editor><editor><persName><forename type="first">Randy</forename><surname>Goebel</surname></persName><affiliation>University of Alberta, Edmonton, Canada</affiliation></editor><editor><persName><forename type="first">Jörg</forename><surname>Siekmann</surname></persName><affiliation>University of Saarland, Saarbrücken, Germany</affiliation></editor><editor><persName><forename type="first">Wolfgang</forename><surname>Wahlster</surname></persName><affiliation>DFKI and University of Saarland, Saarbrücken, Germany</affiliation></editor><editor><persName><forename type="first">Luís</forename><forename type="first">Seabra</forename><surname>Lopes</surname></persName><email>lsl@ua.pt</email><affiliation>IEETA/Department of Electronics & Telecommunication, University of Aveiro, Campus Santiago, P.O. Box, 3810-153, Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Nuno</forename><surname>Lau</surname></persName><email>nunolau@ua.pt</email><affiliation>LSE-IEETA/DETI, Universidade de Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Pedro</forename><surname>Mariano</surname></persName><email>plsm@ua.pt</email><affiliation>Universidade de Aveiro, Aveiro, Portugal</affiliation></editor><editor><persName><forename type="first">Luís</forename><forename type="first">M.</forename><surname>Rocha</surname></persName><email>rocha@indiana.edu</email><affiliation>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia, Portugal</affiliation></editor><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><biblScope type="seriesId">1244</biblScope></series><idno type="istex">40655552F766226F48D9CFF3F9A8373C565EC9AF</idno><idno type="DOI">10.1007/978-3-642-04686-5_29</idno><idno type="ChapterID">29</idno><idno type="ChapterID">Chap29</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2009</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>Abstract: When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.</p></abstract><textClass><keywords scheme="Book Subject Collection"><list><label>SUCO11645</label><item><term>Computer Science</term></item></list></keywords></textClass><textClass><keywords scheme="Book Subject Group"><list><label>I</label><label>I21017</label><label>I18067</label><label>I21025</label><label>I22005</label><label>I18040</label><label>I18030</label><item><term>Computer Science</term></item><item><term>Artificial Intelligence (incl. Robotics)</term></item><item><term>User Interfaces and Human Computer Interaction</term></item><item><term>Simulation and Modeling</term></item><item><term>Computer Imaging, Vision, Pattern Recognition and Graphics</term></item><item><term>Information Systems Applications (incl.Internet)</term></item><item><term>Data Mining and Knowledge Discovery</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2009">Published</change><change xml:id="refBibs-istex" who="#ISTEX-API" when="2016-3-20">References added</change></revisionDesc></teiHeader></istex:fulltextTEI><json:item><original>false</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/40655552F766226F48D9CFF3F9A8373C565EC9AF/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Springer, Publisher found" wicri:toSee="no header"><istex:xmlDeclaration>version="1.0" encoding="UTF-8"</istex:xmlDeclaration><istex:docType PUBLIC="-//Springer-Verlag//DTD A++ V2.4//EN" URI="http://devel.springer.de/A++/V2.4/DTD/A++V2.4.dtd" name="istex:docType"></istex:docType><istex:document><Publisher><PublisherInfo><PublisherName>Springer Berlin Heidelberg</PublisherName><PublisherLocation>Berlin, Heidelberg</PublisherLocation></PublisherInfo><Series><SeriesInfo SeriesType="Series" TocLevels="0"><SeriesID>558</SeriesID><SeriesPrintISSN>0302-9743</SeriesPrintISSN><SeriesElectronicISSN>1611-3349</SeriesElectronicISSN><SeriesTitle Language="En">Lecture Notes in Computer Science</SeriesTitle></SeriesInfo><SeriesHeader><EditorGroup><Editor AffiliationIDS="Aff1"><EditorName DisplayOrder="Western"><GivenName>David</GivenName><FamilyName>Hutchison</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff2"><EditorName DisplayOrder="Western"><GivenName>Takeo</GivenName><FamilyName>Kanade</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff3"><EditorName DisplayOrder="Western"><GivenName>Josef</GivenName><FamilyName>Kittler</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff4"><EditorName DisplayOrder="Western"><GivenName>Jon</GivenName><GivenName>M.</GivenName><FamilyName>Kleinberg</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff5"><EditorName DisplayOrder="Western"><GivenName>Friedemann</GivenName><FamilyName>Mattern</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff6"><EditorName DisplayOrder="Western"><GivenName>John</GivenName><GivenName>C.</GivenName><FamilyName>Mitchell</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff7"><EditorName DisplayOrder="Western"><GivenName>Moni</GivenName><FamilyName>Naor</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff8"><EditorName DisplayOrder="Western"><GivenName>Oscar</GivenName><FamilyName>Nierstrasz</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff9"><EditorName DisplayOrder="Western"><GivenName>C.</GivenName><FamilyName>Pandu Rangan</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff10"><EditorName DisplayOrder="Western"><GivenName>Bernhard</GivenName><FamilyName>Steffen</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff11"><EditorName DisplayOrder="Western"><GivenName>Madhu</GivenName><FamilyName>Sudan</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff12"><EditorName DisplayOrder="Western"><GivenName>Demetri</GivenName><FamilyName>Terzopoulos</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff13"><EditorName DisplayOrder="Western"><GivenName>Doug</GivenName><FamilyName>Tygar</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff14"><EditorName DisplayOrder="Western"><GivenName>Moshe</GivenName><GivenName>Y.</GivenName><FamilyName>Vardi</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff15"><EditorName DisplayOrder="Western"><GivenName>Gerhard</GivenName><FamilyName>Weikum</FamilyName></EditorName></Editor><Affiliation ID="Aff1"><OrgName>Lancaster University</OrgName><OrgAddress><City>Lancaster</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff2"><OrgName>Carnegie Mellon University</OrgName><OrgAddress><City>Pittsburgh</City><State>PA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff3"><OrgName>University of Surrey</OrgName><OrgAddress><City>Guildford</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff4"><OrgName>Cornell University</OrgName><OrgAddress><City>Ithaca</City><State>NY</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff5"><OrgName>ETH Zurich</OrgName><OrgAddress><City>Zurich</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff6"><OrgName>Stanford University</OrgName><OrgAddress><City>Stanford</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgName>Weizmann Institute of Science</OrgName><OrgAddress><City>Rehovot</City><Country>Israel</Country></OrgAddress></Affiliation><Affiliation ID="Aff8"><OrgName>University of Bern</OrgName><OrgAddress><City>Bern</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff9"><OrgName>Indian Institute of Technology</OrgName><OrgAddress><City>Madras</City><Country>India</Country></OrgAddress></Affiliation><Affiliation ID="Aff10"><OrgName>University of Dortmund</OrgName><OrgAddress><City>Dortmund</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff11"><OrgName>Massachusetts Institute of Technology</OrgName><OrgAddress><State>MA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff12"><OrgName>University of California</OrgName><OrgAddress><City>Los Angeles</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff13"><OrgName>University of California</OrgName><OrgAddress><City>Berkeley</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff14"><OrgName>Rice University</OrgName><OrgAddress><City>Houston</City><State>TX</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff15"><OrgName>Max-Planck Institute of Computer Science</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></SeriesHeader><SubSeries><SubSeriesInfo><SubSeriesID>1244</SubSeriesID><SubSeriesPrintISSN>0302-9743</SubSeriesPrintISSN><SubSeriesElectronicISSN>1611-3349</SubSeriesElectronicISSN><SubSeriesTitle Language="En">Lecture Notes in Artificial Intelligence</SubSeriesTitle></SubSeriesInfo><SubSeriesHeader><EditorGroup><Editor AffiliationIDS="Aff16"><EditorName DisplayOrder="Western"><GivenName>Randy</GivenName><FamilyName>Goebel</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff17"><EditorName DisplayOrder="Western"><GivenName>Jörg</GivenName><FamilyName>Siekmann</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff18"><EditorName DisplayOrder="Western"><GivenName>Wolfgang</GivenName><FamilyName>Wahlster</FamilyName></EditorName></Editor><Affiliation ID="Aff16"><OrgName>University of Alberta</OrgName><OrgAddress><City>Edmonton</City><Country>Canada</Country></OrgAddress></Affiliation><Affiliation ID="Aff17"><OrgName>University of Saarland</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff18"><OrgName>DFKI and University of Saarland</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></SubSeriesHeader></SubSeries><Book Language="En"><BookInfo BookProductType="Proceedings" ContainsESM="No" Language="En" MediaType="eBook" NumberingStyle="Unnumbered" OutputMedium="All" TocLevels="0"><BookID>978-3-642-04686-5</BookID><BookTitle>Progress in Artificial Intelligence</BookTitle><BookSubTitle>14th Portuguese Conference on Artificial Intelligence, EPIA 2009, Aveiro, Portugal, October 12-15, 2009. Proceedings</BookSubTitle><BookVolumeNumber>5816</BookVolumeNumber><BookSequenceNumber>5816</BookSequenceNumber><BookDOI>10.1007/978-3-642-04686-5</BookDOI><BookTitleID>191932</BookTitleID><BookPrintISBN>978-3-642-04685-8</BookPrintISBN><BookElectronicISBN>978-3-642-04686-5</BookElectronicISBN><BookChapterCount>55</BookChapterCount><BookCopyright><CopyrightHolderName>Springer Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2009</CopyrightYear></BookCopyright><BookSubjectGroup><BookSubject Code="I" Type="Primary">Computer Science</BookSubject><BookSubject Code="I21017" Priority="1" Type="Secondary">Artificial Intelligence (incl. Robotics)</BookSubject><BookSubject Code="I18067" Priority="2" Type="Secondary">User Interfaces and Human Computer Interaction</BookSubject><BookSubject Code="I21025" Priority="3" Type="Secondary">Simulation and Modeling</BookSubject><BookSubject Code="I22005" Priority="4" Type="Secondary">Computer Imaging, Vision, Pattern Recognition and Graphics</BookSubject><BookSubject Code="I18040" Priority="5" Type="Secondary">Information Systems Applications (incl.Internet)</BookSubject><BookSubject Code="I18030" Priority="6" Type="Secondary">Data Mining and Knowledge Discovery</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup><BookContext><SeriesID>558</SeriesID><SubSeriesID>1244</SubSeriesID></BookContext></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff19"><EditorName DisplayOrder="Western"><GivenName>Luís</GivenName><GivenName>Seabra</GivenName><FamilyName>Lopes</FamilyName></EditorName><Contact><Email>lsl@ua.pt</Email></Contact></Editor><Editor AffiliationIDS="Aff20"><EditorName DisplayOrder="Western"><GivenName>Nuno</GivenName><FamilyName>Lau</FamilyName></EditorName><Contact><Email>nunolau@ua.pt</Email></Contact></Editor><Editor AffiliationIDS="Aff21"><EditorName DisplayOrder="Western"><GivenName>Pedro</GivenName><FamilyName>Mariano</FamilyName></EditorName><Contact><Email>plsm@ua.pt</Email></Contact></Editor><Editor AffiliationIDS="Aff22"><EditorName DisplayOrder="Western"><GivenName>Luís</GivenName><GivenName>M.</GivenName><FamilyName>Rocha</FamilyName></EditorName><Contact><Email>rocha@indiana.edu</Email></Contact></Editor><Affiliation ID="Aff19"><OrgDivision>IEETA/Department of Electronics & Telecommunication</OrgDivision><OrgName>University of Aveiro</OrgName><OrgAddress><Street>Campus Santiago</Street><Postbox>P.O. Box</Postbox><Postcode>3810-153</Postcode><City>Aveiro</City><Country>Portugal</Country></OrgAddress></Affiliation><Affiliation ID="Aff20"><OrgDivision>LSE-IEETA/DETI</OrgDivision><OrgName>Universidade de Aveiro</OrgName><OrgAddress><Country>Portugal</Country></OrgAddress></Affiliation><Affiliation ID="Aff21"><OrgName>Universidade de Aveiro</OrgName><OrgAddress><City>Aveiro</City><Country>Portugal</Country></OrgAddress></Affiliation><Affiliation ID="Aff22"><OrgName>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia</OrgName><OrgAddress><Country>Portugal</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Part ID="Part7"><PartInfo TocLevels="0"><PartID>7</PartID><PartSequenceNumber>7</PartSequenceNumber><PartTitle>Chapter 7 IROBOT – Intelligent Robotics</PartTitle><PartChapterCount>10</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Progress in Artificial Intelligence</BookTitle></PartContext></PartInfo><Chapter ID="Chap29" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingStyle="Unnumbered" TocLevels="0"><ChapterID>29</ChapterID><ChapterDOI>10.1007/978-3-642-04686-5_29</ChapterDOI><ChapterSequenceNumber>29</ChapterSequenceNumber><ChapterTitle Language="En">Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</ChapterTitle><ChapterFirstPage>350</ChapterFirstPage><ChapterLastPage>360</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2009</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>7</PartID><BookID>978-3-642-04686-5</BookID><BookTitle>Progress in Artificial Intelligence</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff23"><AuthorName DisplayOrder="Western"><GivenName>João</GivenName><FamilyName>Silva</FamilyName></AuthorName><Contact><Email>joao.m.silva@ua.pt</Email></Contact></Author><Author AffiliationIDS="Aff23"><AuthorName DisplayOrder="Western"><GivenName>Nuno</GivenName><FamilyName>Lau</FamilyName></AuthorName><Contact><Email>nunolau@ua.pt</Email></Contact></Author><Author AffiliationIDS="Aff23"><AuthorName DisplayOrder="Western"><GivenName>António</GivenName><GivenName>J.</GivenName><GivenName>R.</GivenName><FamilyName>Neves</FamilyName></AuthorName><Contact><Email>an@ua.pt</Email></Contact></Author><Author AffiliationIDS="Aff23"><AuthorName DisplayOrder="Western"><GivenName>João</GivenName><FamilyName>Rodrigues</FamilyName></AuthorName><Contact><Email>jmr@ua.pt</Email></Contact></Author><Author AffiliationIDS="Aff23"><AuthorName DisplayOrder="Western"><GivenName>José</GivenName><GivenName>Luís</GivenName><FamilyName>Azevedo</FamilyName></AuthorName><Contact><Email>jla@ua.pt</Email></Contact></Author><Affiliation ID="Aff23"><OrgDivision>IEETA/Department of Electronics, Telecommunications and Informatics</OrgDivision><OrgName>University of Aveiro</OrgName><OrgAddress><Country>Portugal</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Obstacle Detection, Identification and Sharing on a Robotic Soccer Team</title></titleInfo><name type="personal"><namePart type="given">João</namePart><namePart type="family">Silva</namePart><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation><affiliation>E-mail: joao.m.silva@ua.pt</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Nuno</namePart><namePart type="family">Lau</namePart><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation><affiliation>E-mail: nunolau@ua.pt</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">António</namePart><namePart type="given">J.</namePart><namePart type="given">R.</namePart><namePart type="family">Neves</namePart><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation><affiliation>E-mail: an@ua.pt</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">João</namePart><namePart type="family">Rodrigues</namePart><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation><affiliation>E-mail: jmr@ua.pt</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">José</namePart><namePart type="given">Luís</namePart><namePart type="family">Azevedo</namePart><affiliation>IEETA/Department of Electronics, Telecommunications and Informatics, University of Aveiro, Portugal</affiliation><affiliation>E-mail: jla@ua.pt</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="conference [eBooks]" displayLabel="OriginalPaper"></genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2009</dateIssued><copyrightDate encoding="w3cdtf">2009</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><abstract lang="en">Abstract: When building a representation of the environment for a robot in a multi-agent application, as is the case of robotic soccer, sensor and information fusion of several elements of the environment are an important task. To build an increasingly better world model, one of the aspects that one should consider is the treatment of obstacles. This paper gives an insight of the general steps necessary for a good obstacle representation in the robot world model. A first step is the visual detection of the obstacles in the image acquired by the robot. This is done using an algorithm based on radial search lines and colour-based blobs detection, where each obstacle is identified and delimited. After having the visually detected obstacles, a fusion with a-priori known information about the obstacles characteristics allows the obstacle separation and filtering, so that obstacles that don’t fill the criteria are discarded. With the position information shared by team mates, the matching of the obstacles and the team mates positions is also possible, thus identifying each of them. Finally, and with the purpose of having a team world model as coherent as possible, the robots are able to share the obstacle information of each other. The work presented in this paper was developed for the CAMBADA robotic soccer team. After achieving the 1st place in the Portuguese robotics open Robótica2008 and in the Robocup2008 world championship, the correct treatment of obstacles was one of the new challenges proposed among the team to improve the performance for the next competitions.</abstract><relatedItem type="host"><titleInfo><title>Progress in Artificial Intelligence</title><subTitle>14th Portuguese Conference on Artificial Intelligence, EPIA 2009, Aveiro, Portugal, October 12-15, 2009. Proceedings</subTitle></titleInfo><name type="personal"><namePart type="given">Luís</namePart><namePart type="given">Seabra</namePart><namePart type="family">Lopes</namePart><affiliation>IEETA/Department of Electronics & Telecommunication, University of Aveiro, Campus Santiago, P.O. Box, 3810-153, Aveiro, Portugal</affiliation><affiliation>E-mail: lsl@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Nuno</namePart><namePart type="family">Lau</namePart><affiliation>LSE-IEETA/DETI, Universidade de Aveiro, Portugal</affiliation><affiliation>E-mail: nunolau@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Pedro</namePart><namePart type="family">Mariano</namePart><affiliation>Universidade de Aveiro, Aveiro, Portugal</affiliation><affiliation>E-mail: plsm@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Luís</namePart><namePart type="given">M.</namePart><namePart type="family">Rocha</namePart><affiliation>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia, Portugal</affiliation><affiliation>E-mail: rocha@indiana.edu</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="Book Series" displayLabel="Proceedings"></genre><originInfo><copyrightDate encoding="w3cdtf">2009</copyrightDate><issuance>monographic</issuance></originInfo><subject><genre>Book Subject Collection</genre><topic authority="SpringerSubjectCodes" authorityURI="SUCO11645">Computer Science</topic></subject><subject><genre>Book Subject Group</genre><topic authority="SpringerSubjectCodes" authorityURI="I">Computer Science</topic><topic authority="SpringerSubjectCodes" authorityURI="I21017">Artificial Intelligence (incl. Robotics)</topic><topic authority="SpringerSubjectCodes" authorityURI="I18067">User Interfaces and Human Computer Interaction</topic><topic authority="SpringerSubjectCodes" authorityURI="I21025">Simulation and Modeling</topic><topic authority="SpringerSubjectCodes" authorityURI="I22005">Computer Imaging, Vision, Pattern Recognition and Graphics</topic><topic authority="SpringerSubjectCodes" authorityURI="I18040">Information Systems Applications (incl.Internet)</topic><topic authority="SpringerSubjectCodes" authorityURI="I18030">Data Mining and Knowledge Discovery</topic></subject><identifier type="DOI">10.1007/978-3-642-04686-5</identifier><identifier type="ISBN">978-3-642-04685-8</identifier><identifier type="eISBN">978-3-642-04686-5</identifier><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="BookTitleID">191932</identifier><identifier type="BookID">978-3-642-04686-5</identifier><identifier type="BookChapterCount">55</identifier><identifier type="BookVolumeNumber">5816</identifier><identifier type="BookSequenceNumber">5816</identifier><identifier type="PartChapterCount">10</identifier><part><date>2009</date><detail type="part"><title>Chapter 7 IROBOT – Intelligent Robotics</title></detail><detail type="volume"><number>5816</number><caption>vol.</caption></detail><extent unit="pages"><start>350</start><end>360</end></extent></part><recordInfo><recordOrigin>Springer Berlin Heidelberg, 2009</recordOrigin></recordInfo></relatedItem><relatedItem type="series"><titleInfo><title>Lecture Notes in Computer Science</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="family">Hutchison</namePart><affiliation>Lancaster University, Lancaster, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Takeo</namePart><namePart type="family">Kanade</namePart><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Josef</namePart><namePart type="family">Kittler</namePart><affiliation>University of Surrey, Guildford, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Jon</namePart><namePart type="given">M.</namePart><namePart type="family">Kleinberg</namePart><affiliation>Cornell University, Ithaca, NY, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Friedemann</namePart><namePart type="family">Mattern</namePart><affiliation>ETH Zurich, Zurich, Switzerland</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">John</namePart><namePart type="given">C.</namePart><namePart type="family">Mitchell</namePart><affiliation>Stanford University, Stanford, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moni</namePart><namePart type="family">Naor</namePart><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Oscar</namePart><namePart type="family">Nierstrasz</namePart><affiliation>University of Bern, Bern, Switzerland</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">C.</namePart><namePart type="family">Pandu Rangan</namePart><affiliation>Indian Institute of Technology, Madras, India</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Bernhard</namePart><namePart type="family">Steffen</namePart><affiliation>University of Dortmund, Dortmund, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Madhu</namePart><namePart type="family">Sudan</namePart><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Demetri</namePart><namePart type="family">Terzopoulos</namePart><affiliation>University of California, Los Angeles, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Doug</namePart><namePart type="family">Tygar</namePart><affiliation>University of California, Berkeley, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moshe</namePart><namePart type="given">Y.</namePart><namePart type="family">Vardi</namePart><affiliation>Rice University, Houston, TX, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Gerhard</namePart><namePart type="family">Weikum</namePart><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><originInfo><copyrightDate encoding="w3cdtf">2009</copyrightDate><issuance>serial</issuance></originInfo><relatedItem type="constituent"><titleInfo><title>Lecture Notes in Artificial Intelligence</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="family">Hutchison</namePart><affiliation>Lancaster University, Lancaster, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Takeo</namePart><namePart type="family">Kanade</namePart><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Josef</namePart><namePart type="family">Kittler</namePart><affiliation>University of Surrey, Guildford, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Jon</namePart><namePart type="given">M.</namePart><namePart type="family">Kleinberg</namePart><affiliation>Cornell University, Ithaca, NY, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Friedemann</namePart><namePart type="family">Mattern</namePart><affiliation>ETH Zurich, Zurich, Switzerland</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">John</namePart><namePart type="given">C.</namePart><namePart type="family">Mitchell</namePart><affiliation>Stanford University, Stanford, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moni</namePart><namePart type="family">Naor</namePart><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Oscar</namePart><namePart type="family">Nierstrasz</namePart><affiliation>University of Bern, Bern, Switzerland</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">C.</namePart><namePart type="family">Pandu Rangan</namePart><affiliation>Indian Institute of Technology, Madras, India</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Bernhard</namePart><namePart type="family">Steffen</namePart><affiliation>University of Dortmund, Dortmund, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Madhu</namePart><namePart type="family">Sudan</namePart><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Demetri</namePart><namePart type="family">Terzopoulos</namePart><affiliation>University of California, Los Angeles, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Doug</namePart><namePart type="family">Tygar</namePart><affiliation>University of California, Berkeley, CA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moshe</namePart><namePart type="given">Y.</namePart><namePart type="family">Vardi</namePart><affiliation>Rice University, Houston, TX, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Gerhard</namePart><namePart type="family">Weikum</namePart><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Randy</namePart><namePart type="family">Goebel</namePart><affiliation>University of Alberta, Edmonton, Canada</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Jörg</namePart><namePart type="family">Siekmann</namePart><affiliation>University of Saarland, Saarbrücken, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Wolfgang</namePart><namePart type="family">Wahlster</namePart><affiliation>DFKI and University of Saarland, Saarbrücken, Germany</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Luís</namePart><namePart type="given">Seabra</namePart><namePart type="family">Lopes</namePart><affiliation>IEETA/Department of Electronics & Telecommunication, University of Aveiro, Campus Santiago, P.O. Box, 3810-153, Aveiro, Portugal</affiliation><affiliation>E-mail: lsl@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Nuno</namePart><namePart type="family">Lau</namePart><affiliation>LSE-IEETA/DETI, Universidade de Aveiro, Portugal</affiliation><affiliation>E-mail: nunolau@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Pedro</namePart><namePart type="family">Mariano</namePart><affiliation>Universidade de Aveiro, Aveiro, Portugal</affiliation><affiliation>E-mail: plsm@ua.pt</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Luís</namePart><namePart type="given">M.</namePart><namePart type="family">Rocha</namePart><affiliation>School of Informatics, Indiana University, Bloomington, IN, USA, and Computational Biology Collaboratorium, Instituto ulbenkian da Ciencia, Portugal</affiliation><affiliation>E-mail: rocha@indiana.edu</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="Sub-Series"></genre><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="SubSeriesID">1244</identifier></relatedItem><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="SeriesID">558</identifier><recordInfo><recordOrigin>Springer Berlin Heidelberg, 2009</recordOrigin></recordInfo></relatedItem><identifier type="istex">40655552F766226F48D9CFF3F9A8373C565EC9AF</identifier><identifier type="DOI">10.1007/978-3-642-04686-5_29</identifier><identifier type="ChapterID">29</identifier><identifier type="ChapterID">Chap29</identifier><accessCondition type="use and reproduction" contentType="copyright">Springer Berlin Heidelberg, 2009</accessCondition><recordInfo><recordContentSource>SPRINGER</recordContentSource><recordOrigin>Springer-Verlag Berlin Heidelberg, 2009</recordOrigin></recordInfo></mods></metadata></istex></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/TelematiV1/Data/Istex/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000E90 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Istex/Corpus/biblio.hfd -nk 000E90 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= TelematiV1
|flux= Istex
|étape= Corpus
|type= RBID
|clé= ISTEX:40655552F766226F48D9CFF3F9A8373C565EC9AF
|texte= Obstacle Detection, Identification and Sharing on a Robotic Soccer Team
}}
| This area was generated with Dilib version V0.6.31. |  |