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Three Humanoid Soccer Platforms: Comparison and Synthesis

Shivaram Kalyanakrishnan, Todd Hester, Michael Quinlan, Yinon Bentor, and Peter Stone. Three Humanoid Soccer Platforms: Comparison and Synthesis. In Jacky Baltes, Michail G. Lagoudakis, Tadashi Naruse, and Saeed Shiry Ghidary, editors, RoboCup 2009: Robot Soccer World Cup XIII, pp. 140–152, Springer Verlag, 2010.

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Abstract

In this article, we provide an overview of three humanoid soccer platforms currently in use at RoboCup: 3D simulation, the humanoid Standard Platform League (SPL), and the Webots-based simulator released with the SPL. Although these platforms trace different historical roots, today they share the same robot model, the Aldebaran Nao. Consequently, they face a similar set of challenges, primary among which is the need to develop reliable and robust bipedal locomotion. In this paper, we compare and contrast these platforms, drawing on the experiences of our team, UT Austin Villa, in developing agents for each of them. We identify specific roles for these three platforms in advancing the overarching goals of RoboCup.

BibTeX

@incollection{LNAI09-kalyanakrishnan-2,
  author = "Shivaram Kalyanakrishnan and Todd Hester and Michael Quinlan and Yinon Bentor and Peter Stone",
  title = "Three Humanoid Soccer Platforms: Comparison and Synthesis",
  booktitle = "{R}obo{C}up 2009: Robot Soccer World Cup {XIII}",
  editor = "Jacky Baltes and  Michail G. Lagoudakis and Tadashi Naruse
 and Saeed Shiry Ghidary",
  Publisher="Springer Verlag",
  year = "2010",
  pages="140--152",
  abstract = {
    In this article, we provide an overview of three humanoid soccer
    platforms currently in use at RoboCup: 3D simulation, the humanoid
    Standard Platform League (SPL), and the Webots-based simulator released
    with the SPL.  Although these platforms trace different historical
    roots, today they share the same robot model, the Aldebaran Nao.
    Consequently, they face a similar set of challenges, primary among
    which is the need to develop reliable and robust bipedal locomotion. In
    this paper, we compare and contrast these platforms, drawing on the
    experiences of our team, UT Austin Villa, in developing agents for each
    of them.  We identify specific roles for these three platforms in
    advancing the overarching goals of RoboCup.
  },
}

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