{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T15:28:08Z","timestamp":1652369288820},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2011,1,26]],"date-time":"2011-01-26T00:00:00Z","timestamp":1296000000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/2.0"},{"start":{"date-parts":[[2011,1,26]],"date-time":"2011-01-26T00:00:00Z","timestamp":1296000000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/2.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Braz Comput Soc"],"published-print":{"date-parts":[[2011,3]]},"abstract":"<jats:title>Abstract<\/jats:title>\n          <jats:p>The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others.<\/jats:p>\n          <jats:p>This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system.<\/jats:p>\n          <jats:p>Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness.<\/jats:p>","DOI":"10.1007\/s13173-011-0028-4","type":"journal-article","created":{"date-parts":[[2011,1,25]],"date-time":"2011-01-25T14:12:47Z","timestamp":1295964767000},"page":"69-82","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["On the construction of a RoboCup small size league team"],"prefix":"10.1007","volume":"17","author":[{"suffix":"Jr.","given":"Jos\u00e9 Angelo","family":"Gurzoni","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Murilo Fernandes","family":"Martins","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Flavio","family":"Tonidandel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Reinaldo A. C.","family":"Bianchi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2011,1,26]]},"reference":[{"key":"28_CR1","first-page":"264","volume-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)","author":"RC Arkin","year":"1987","unstructured":"Arkin RC (1987) Motor schema based navigation for a mobile robot: An approach to programming by behavior. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), March, vol\u00a04, pp 264\u2013271"},{"key":"28_CR2","first-page":"632","volume-title":"IEEE international conference on robotics and automation (ICRA)","author":"A Atramentov","year":"2002","unstructured":"Atramentov A, LaValle SM (2002) Efficient nearest neighbor searching for motion planning. In: IEEE international conference on robotics and automation (ICRA), pp 632\u2013637"},{"key":"28_CR3","unstructured":"Balch T (2000) Teambots 2.0 documentation. www.teambots.org"},{"key":"28_CR4","volume-title":"Working notes of the AAAI 1998 spring symposium","author":"T Balch","year":"1998","unstructured":"Balch T, Ram A (1998) Integrating robotic technologies with JavaBots. In: Working notes of the AAAI 1998 spring symposium, Stanford, CA."},{"key":"28_CR5","first-page":"376","volume-title":"Proceedings of international conference on automated planning and scheduling (ICAPS\u201904)","author":"M Bowling","year":"2004","unstructured":"Bowling M, Browning B, Veloso M (2004) Plays as effective multiagent plans enabling opponent-adaptive play selection. In: Proceedings of international conference on automated planning and scheduling (ICAPS\u201904), pp 376\u2013383"},{"key":"28_CR6","volume-title":"Proceedings of autonomous agents and multi-agent systems (AAMAS)","author":"B Browning","year":"2003","unstructured":"Browning B, Tryzelaar E (2003) Ubersim: A realistic simulation engine for robot soccer. In: Proceedings of autonomous agents and multi-agent systems (AAMAS), Australia"},{"key":"28_CR7","first-page":"33","volume":"219","author":"B Browning","year":"2005","unstructured":"Browning B, Bruce J, Bowling M, Veloso M (2005) Stp: Skills, tactics and plays for multi-robot control in adversarial environments. IEEE J Control Syst Eng 219:33\u201352","journal-title":"IEEE J Control Syst Eng"},{"key":"28_CR8","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"J Bruce","year":"2002","unstructured":"Bruce J, Veloso M (2002) Real-time randomized path planning for robot navigation. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"28_CR9","first-page":"1277","volume-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)","author":"J Bruce","year":"2003","unstructured":"Bruce J, Veloso M (2003) Fast and accurate vision-based pattern detection and identification. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), Taiwan, May, pp 1277\u20131282"},{"key":"28_CR10","first-page":"2061","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"J Bruce","year":"2000","unstructured":"Bruce J, Balch T, Veloso M (2000) Fast and inexpensive color image segmentation for interactive robots. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS), October, vol\u00a03, pp\u00a02061\u20132066"},{"key":"28_CR11","first-page":"4074","volume-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)","author":"J Bruce","year":"2008","unstructured":"Bruce J, Zickler S, Licitra M, Veloso M (2008) Cmdragons: Dynamic passing and strategy on a champion robot soccer team. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), Pasadena, CA, pp 4074\u20134079"},{"key":"28_CR12","first-page":"267","volume-title":"IEEE international conference on robotics and automation (ICRA)","author":"P Cheng","year":"2002","unstructured":"Cheng P, LaValle SM (2002) Resolution complete rapidly-exploring random trees. In: IEEE international conference on robotics and automation (ICRA), pp 267\u2013272"},{"key":"28_CR13","volume-title":"Computer graphics: Principles and practice in C","author":"JD Foley","year":"1995","unstructured":"Foley JD, van Dam A, Feiner SK, Hughes JF (1995) Computer graphics: Principles and practice in C, 2nd edn. Addison-Wesley, Reading","edition":"2"},{"key":"28_CR14","volume-title":"Proceedings of SBAI\u201909","author":"JA Gurzoni Jr.","year":"2009","unstructured":"Gurzoni JA Jr., Martins MF, Tonidandel F, Bianchi RAC (2009) A\u00a0neural approach to real time colour recognition in the robot soccer domain. In: Proceedings of SBAI\u201909, The X Brazilian symposium of artificial intelligence"},{"key":"28_CR15","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1023\/B:AURO.0000032939.08597.62","volume":"17","author":"TL Huntsberger","year":"2004","unstructured":"Huntsberger TL, Trebi-ollennu A, Aghazarian H, Schenker PS, Pirjanian P (2004) Distributed control of multi-robot systems engaged in tightly coupled tasks. Auton Robots 17:79\u201392","journal-title":"Auton Robots"},{"key":"28_CR16","series-title":"Lecture notes in computer science","volume-title":"RoboCup 2008: Robot soccer world cup XII [papers from the 12th annual RoboCup international symposium, Suzhou, China, July 15\u201318, 2008]","year":"2009","unstructured":"Iocchi L, Matsubara H, Weitzenfeld A, Zhou C (eds) (2009) RoboCup 2008: Robot soccer world cup XII [papers from the 12th annual RoboCup international symposium, Suzhou, China, July 15\u201318, 2008]. Lecture notes in computer science, vol 5399. Springer, Berlin"},{"key":"28_CR17","doi-asserted-by":"publisher","first-page":"340","DOI":"10.1145\/267658.267738","volume-title":"AGENTS \u201997: Proceedings of the first international conference on autonomous agents","author":"H Kitano","year":"1997","unstructured":"Kitano H, Asada M, Kuniyoshi Y, Noda I, Osawa E (1997) Robocup: The robot world cup initiative. In: AGENTS \u201997: Proceedings of the first international conference on autonomous agents. ACM, New York, pp 340\u2013347"},{"issue":"1","key":"28_CR18","first-page":"73","volume":"18","author":"H Kitano","year":"1997","unstructured":"Kitano H, Asada M, Kuniyoshi Y, Noda I, Osawa E (1997) Robocup: A challenge problem for AI. AI Mag 18(1):73\u201385","journal-title":"AI Mag"},{"key":"28_CR19","first-page":"24","volume-title":"International joint conference on artificial intelligence (IJCAI)","author":"H Kitano","year":"1997","unstructured":"Kitano H, Tambe M, Stone P, Veloso MM, Coradeschi S, Osawa E, Matsubara H, Noda I, Asada M (1997) The robocup synthetic agent challenge 97. In: International joint conference on artificial intelligence (IJCAI), pp 24\u201330"},{"issue":"2","key":"28_CR20","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1007\/s10514-006-9013-8","volume":"22","author":"J Kramer","year":"2007","unstructured":"Kramer J, Scheutz M (2007) Development environments for autonomous mobile robots: A survey. Auton Robots 22(2):101\u2013132","journal-title":"Auton Robots"},{"key":"28_CR21","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot motion planning","author":"JC Latombe","year":"1991","unstructured":"Latombe JC (1991) Robot motion planning. Kluwer Academic, Dordrecht"},{"key":"28_CR22","volume-title":"Proceedings of the international RoboCup symposium 2009 (RoboCup 2009)","author":"T Laue","year":"2009","unstructured":"Laue T (2009) B-Smart (Bremen Small Multi-Agent Robot Team) team description for robocup 2009. In: Proceedings of the international RoboCup symposium 2009 (RoboCup 2009), June 30\u2013July\u00a03"},{"key":"28_CR23","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1007\/11780519_16","volume-title":"RoboCup 2005: Robot soccer world cup\u00a0IX","author":"T Laue","year":"2006","unstructured":"Laue T, Spiess K, Rofer T (2006) Simrobot\u2014a general physical robot simulator and its application in robocup. In: Bredenfeld A, Jacoff A, Noda I, Takahashi Y (eds) RoboCup 2005: Robot soccer world cup\u00a0IX. Springer, Berlin, pp 173\u2013183"},{"key":"28_CR24","unstructured":"LaValle SM (1998) Rapidly-exploring random trees: A new tool for path planning. Technical report, Iowa State University, October"},{"key":"28_CR25","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1007\/978-3-540-45058-0_5","volume-title":"Algorithmic foundations of robotics\u00a0V","author":"SM LaValle","year":"2003","unstructured":"LaValle SM, Branicky MS (2003) On the relationship between classical grid search and probabilistic roadmaps. In: Algorithmic foundations of robotics\u00a0V, vol 7. Springer, Berlin, pp 59\u201376"},{"key":"28_CR26","unstructured":"Martins MF, Tonidandel F, Bianchi RAC (2007) Towards model-based vision systems for robot soccer teams. In: Lima\u00a0P (ed) Robotic soccer, Chap. 5. I-Tech Education and Publishing, pp 95\u2013108"},{"key":"28_CR27","first-page":"81","volume-title":"Cognitive systems research","author":"MJ Mataric","year":"2001","unstructured":"Mataric MJ (2001) Learning in behavior-based multi-robot systems: Policies, models, and other agents. In: Cognitive systems research, April, pp 81\u201393"},{"issue":"12","key":"28_CR28","doi-asserted-by":"publisher","first-page":"817","DOI":"10.1002\/(SICI)1097-4563(199612)13:12<817::AID-ROB4>3.0.CO;2-Y","volume":"13","author":"JK Mills","year":"1996","unstructured":"Mills JK, Ing JGL (1996) Dynamic modeling and control of a multi-robot system for assembly of flexible payloads with applications to automotive body assembly. J Robot Syst 13(12):817\u2013836","journal-title":"J Robot Syst"},{"key":"28_CR29","volume-title":"Machine learning (ISE Editions)","author":"TM Mitchell","year":"1997","unstructured":"Mitchell TM (1997) Machine learning (ISE Editions). McGraw-Hill Education, New York"},{"key":"28_CR30","first-page":"433","volume-title":"Proceedings of the 9th int conf on intelligent autonomous systems","author":"S Nouyan","year":"2005","unstructured":"Nouyan S, Gross R, Dorigo M, Bonani M, Mondada F (2005) Group transport along a robot chain in a self-organised robot colony. In: Proceedings of the 9th int conf on intelligent autonomous systems. IOS Press, Amsterdam, pp 433\u2013442"},{"key":"28_CR31","unstructured":"RoboCup Federation (2010) Laws of the Small Size League 2010"},{"issue":"2","key":"28_CR32","first-page":"12","volume":"20","author":"R Rojas","year":"2006","unstructured":"Rojas R, F\u00f6rster AG (2006) Holonomic control of a robot with an omnidirectional drive. K\u00fcnstl Intell 20(2):12\u201317","journal-title":"K\u00fcnstl Intell"},{"key":"28_CR33","first-page":"208","volume-title":"International joint conference IBERAMIA\u201900 Ibero-American conference on artificial intelligence and SBIA\u201900 Brazilian symposium on artificial intelligence","author":"AS Sim\u00f5es","year":"2000","unstructured":"Sim\u00f5es AS, Reali Costa AH (2000) Using neural color classification in robotic soccer domain. In: International joint conference IBERAMIA\u201900 Ibero-American conference on artificial intelligence and SBIA\u201900 Brazilian symposium on artificial intelligence, pp 208\u2013213"},{"key":"28_CR34","first-page":"2212","volume-title":"International joint conference on artificial intelligence (IJCAI)","author":"M Sridharan","year":"2007","unstructured":"Sridharan M, Stone P (2007) Color learning on a mobile robot: Towards full autonomy under changing illumination. In: Veloso MM (ed) International joint conference on artificial intelligence (IJCAI), pp 2212\u20132217"},{"key":"28_CR35","volume-title":"Proceedings of the international RoboCup symposium 2009 (RoboCup 2009)","author":"J Srisabye","year":"2009","unstructured":"Srisabye J, Wasuntapichaikul P, Onman C, Sukvichai K, Damyot S, Munintarawong T, Phuangjaisri P, Tipsuwan Y (2009) Skuba 2009 extended team description. In: Proceedings of the international RoboCup symposium 2009 (RoboCup 2009), June 30\u2013July 3."},{"issue":"2","key":"28_CR36","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1016\/S0004-3702(99)00025-9","volume":"110","author":"P Stone","year":"1999","unstructured":"Stone P, Veloso M (1999) Task decomposition, dynamic role assignment, and low-bandwidth communication for real-time strategic teamwork. Artif Intell 110(2):241\u2013273","journal-title":"Artif Intell"},{"key":"28_CR37","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1109\/TRA.2002.802229","volume":"18","author":"D Sun","year":"2002","unstructured":"Sun D, Mills JK (2002) Adaptive synchronized control for coordination of multirobot assembly tasks. IEEE Trans Robot Autom 18:498\u2013510","journal-title":"IEEE Trans Robot Autom"},{"issue":"2\u20133","key":"28_CR38","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1080\/088395198117820","volume":"12","author":"M Tambe","year":"1998","unstructured":"Tambe M (1998) Implementing agent teams in dynamic multiagent environments. Appl Artif Intell 12(2\u20133):189\u2013210","journal-title":"Appl Artif Intell"},{"issue":"5","key":"28_CR39","doi-asserted-by":"publisher","first-page":"1382","DOI":"10.1109\/TSMCB.2007.902249","volume":"37","author":"W Tao","year":"2007","unstructured":"Tao W, Jin H, Zhang Y (2007) Color image segmentation based on mean shift and normalized cuts. IEEE Trans Syst Man Cybern, Part B, Cybern 37(5):1382\u20131389","journal-title":"IEEE Trans Syst Man Cybern, Part B, Cybern"},{"key":"28_CR40","series-title":"Lecture notes in computer science","volume-title":"RoboCup 2007: Robot soccer world cup XI, July 9\u201310, 2007, Atlanta, GA, USA","year":"2008","unstructured":"Visser U, Ribeiro F, Ohashi T, Dellaert F (eds) (2008) RoboCup 2007: Robot soccer world cup XI, July 9\u201310, 2007, Atlanta, GA, USA. Lecture notes in computer science, vol 5001. Springer, Berlin"}],"container-title":["Journal of the Brazilian Computer Society"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13173-011-0028-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s13173-011-0028-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s13173-011-0028-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13173-011-0028-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,1]],"date-time":"2021-09-01T03:07:23Z","timestamp":1630465643000},"score":1,"resource":{"primary":{"URL":"https:\/\/journal-bcs.springeropen.com\/articles\/10.1007\/s13173-011-0028-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,1,26]]},"references-count":40,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2011,3]]}},"alternative-id":["28"],"URL":"https:\/\/doi.org\/10.1007\/s13173-011-0028-4","relation":{},"ISSN":["0104-6500","1678-4804"],"issn-type":[{"value":"0104-6500","type":"print"},{"value":"1678-4804","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,1,26]]},"assertion":[{"value":"20 July 2010","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 January 2011","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 January 2011","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}