Peter Stone's Selected Publications

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The CMUnited-97 Small-Robot Team

Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. The CMUnited-97 Small-Robot Team. In Hiroaki Kitano, editors, RoboCup-97: Robot Soccer World Cup I, Lecture Notes in Artificial Intelligence, pp. 242–256, Springer Verlag, Berlin, 1998.
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Abstract

Robotic soccer is a challenging research domain which involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. In this paper, we describe CMUnited, the team of small robotic agents that we developed to enter the RoboCup-97 competition. We designed and built the robotic agents, devised the appropriate vision algorithm, and developed and implemented algorithms for strategic collaboration between the robots in an uncertain and dynamic environment. The robots can organize themselves in formations, hold specific roles, and pursue their goals. In game situations, they have demonstrated their collaborative behaviors on multiple occasions. The robots can also switch roles to maximize the overall performance of the team. We present an overview of the vision processing algorithm which successfully tracks multiple moving objects and predicts trajectories. The paper then focusses on the agent behaviors ranging from low-level individual behaviors to coordinated, strategic team behaviors. CMUnited won the RoboCup-97 small-robot competition at IJCAI-97 in Nagoya, Japan.

BibTeX Entry

@InCollection(LNAI97-robot, 
        Author="Manuela Veloso and Peter Stone and Kwun Han and Sorin Achim",
        Title= "The {CMU}nited-97 Small-Robot Team",
        booktitle= "{R}obo{C}up-97: Robot Soccer World Cup {I}",
        Editor="Hiroaki Kitano",
        Publisher="Springer Verlag",address="Berlin",year="1998",
        series="Lecture Notes in Artificial Intelligence",      
	volume="1395",
        pages="242--256",
        abstract={
                  Robotic soccer is a challenging research domain
                  which involves multiple agents that need to
                  collaborate in an adversarial environment to achieve
                  specific objectives. In this paper, we describe
                  CMUnited, the team of small robotic agents that we
                  developed to enter the RoboCup-97 competition. We
                  designed and built the robotic agents, devised the
                  appropriate vision algorithm, and developed and
                  implemented algorithms for strategic collaboration
                  between the robots in an uncertain and dynamic
                  environment. The robots can organize themselves in
                  formations, hold specific roles, and pursue their
                  goals. In game situations, they have demonstrated
                  their collaborative behaviors on multiple
                  occasions. The robots can also switch roles to
                  maximize the overall performance of the team.  We
                  present an overview of the vision processing
                  algorithm which successfully tracks multiple moving
                  objects and predicts trajectories.  The paper then
                  focusses on the agent behaviors ranging from
                  low-level individual behaviors to coordinated,
                  strategic team behaviors.  CMUnited won the
                  RoboCup-97 small-robot competition at IJCAI-97 in
                  Nagoya, Japan.
        },      
        wwwnote={<a href="http://www.cs.utexas.edu/~pstone/Papers/97springer/robot/robot.html">HTML version</a>.<br>
Official version from <a href="http://dx.doi.org/10.1007/3-540-64473-3_64">Publisher's Webpage</a>&copy Springer-Verlag},
)

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