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documentation/introduction.tex
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RoboCup \cite{robocup} is an international competition in the field of RoboCup \cite{robocup} is an international competition in the field of
robotics, the ultimate goal of which is to win a game of soccer against a human robotics, the ultimate goal of which is to win a game of soccer against a human
team by the middle of the 21st century. The motivation behind this objective is team by the middle of the 21st century. The motivation behind this objective is
the following: it is impossible to achieve such an ambitious goal with the the following: It is impossible to achieve such an ambitious goal with the
current state of technology, which means that the RoboCup competitions will current state of technology, which means that the RoboCup competitions will
drive scientific and technological advancement in such areas as computer drive scientific and technological advancement in such areas as computer
vision, mechatronics and multi-agent cooperation in complex dynamic vision, mechatronics and multi-agent cooperation in complex dynamic
environments. The RoboCup teams compete in five different leagues: Humanoid, environments. The RoboCup teams compete in five different leagues: Humanoid,
Standard Platform, Medium Size, Small Size and Simulation. Our work in this Standard Platform, Medium Size, Small Size and Simulation. Our work in this
semester was based on the rules of the \textit{Standard Platform league}. In semester was based on the rules of the \textit{Standard Platform League}. In
this league all teams use the same robot \textit{Nao}, which is being produced this league all teams use the same robot \textit{Nao}, which is being produced
by the SoftBank Robotics. We will describe the capabilities of this robot in by SoftBank Robotics. We will describe the capabilities of this robot in
more detail in the next chapter. more detail in the next chapter.
A couple of words need to be said about the state-of-the-art. One of the most A couple of words need to be said about the state-of-the-art. One of the most
notable teams in the Standard Platform League is \textit{B-Human} notable teams in the Standard Platform League is \textit{B-Human}
\cite{bhuman}. This team represents the University of Bremen and in the last \cite{bhuman}. This team represents the University of Bremen and in the last
nine years they won the international RoboCup competition six times and twice nine years they won the international RoboCup competition six times and twice
were the runner-up. The source code of the framework that B-Human use for were the runner-up. The source code of the framework that B-Human uses for
programming their robots is available on GitHub, together with an extensive programming their robots is available on GitHub, together with an extensive
documentation, which makes the B-Human framework a frequent starting point for documentation, which makes the B-Human framework a frequent starting point for
RoboCup beginners. RoboCup beginners.
@@ -35,11 +35,11 @@ effective goal scoring will bring the team closer to victory. Secondly, in
order to score a goal, many problems and tasks need to be solved, which we will order to score a goal, many problems and tasks need to be solved, which we will
describe in close detail in the next chapter. The work on these tasks would describe in close detail in the next chapter. The work on these tasks would
allow us to acquire new competences, which we could then use to complement the allow us to acquire new competences, which we could then use to complement the
RoboCup team of TUM. Finally, this objective encompasses many disciplines, such RoboCup team of the TUM. Finally, this objective encompasses many disciplines, such
as object detection, mechatronics or path planning, which means that working on as object detection, mechatronics or path planning, which means that working on
it might give us a chance to contribute to the research in these areas. it might give us a chance to contribute to the research in these areas.
Having said that, we hope that our project will be a positive contribution to Having said that, we hope that our project will be a positive contribution to
the work, being done at the Institute for Cognitive Systems, and that this the work being done at the Institute for Cognitive Systems and that this
report will help future students to get familiar with our results and continue report will help future students to get familiar with our results and continue
our work. our work.

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documentation/perception.tex
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@@ -16,7 +16,7 @@ and are assumed to be the center and the radius of the ball.
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig ball-detection} \includegraphics[width=\textwidth]{\fig ball-detection}
\caption{Ball detection. On the right is the binary mask} \caption[Ball detection]{Ball detection. On the right is the binary mask}
\label{p figure ball-detection} \label{p figure ball-detection}
\end{figure} \end{figure}

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documentation/tools.tex
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@@ -7,38 +7,38 @@ cm tall. Some of its characteristics are:
\begin{itemize} \begin{itemize}
\item Two HD-cameras on the head; \item Two HD-cameras on the head
\item An ultrasonic rangefinder on the body; \item An ultrasonic rangefinder on the body
\item An inertial navigation unit (accelerometer and gyroscope); \item An inertial navigation unit (accelerometer and gyroscope)
\item Internet connectivity over Ethernet cable or 802.11g WLAN; \item Internet connectivity over Ethernet cable or 802.11g WLAN
\item Single-core Intel Atom CPU and 1 GB of RAM; \item Single-core Intel Atom CPU and 1 GB of RAM
\item Programmable joints with overall 25 degrees of freedom; \item Programmable joints with overall 25 degrees of freedom
\item Speakers; \item Speakers
\item 60 to 90 minutes battery life. \item 60 to 90 minutes battery life
\end{itemize} \end{itemize}
It can be seen from the specifications list, that the multitude of sensors and It can be seen from the specifications list, that the multitude of sensors and
interfaces makes Nao an attractive development platform, suitable for the task interfaces make the Nao an attractive development platform, suitable for the task
of playing soccer. However, relatively weak CPU and a low amount of RAM require of playing soccer. However, a relatively weak CPU and a low amount of RAM require
the programs running on the robot to be resource-efficient, which had to be the programs running on the robot to be resource-efficient, which had to be
taken into into account during our work on the project. taken into account during our work on the project.
\section{Software} \section{Software}
In our project we used \textit{NAOqi OS} as an operating system for the robot. In our project we used \textit{NAOqi OS} as an operating system for the robot.
This is a standard operating system for Nao robots based on Gentoo Linux, and This is a standard operating system for Nao robots based on Gentoo Linux and
it can handle all aspects of robot control, such as reading the sensors, moving it can handle all aspects of robot control, such as reading the sensors, moving
the robot and establishing the network connection. the robot and establishing the network connection.
As a framework for the implementation of the desired behavior we chose the As a framework for the implementation of the desired behaviour we chose the
official \textit{NAOqi Python SDK} \cite{naoqi-sdk}. We found this framework official \textit{NAOqi Python SDK} \cite{naoqi-sdk}. We found this framework
easy to use, well documented and also covering most basic functionality that easy to use, well documented and also covering most basic functionality that
was necessary for us to start working on the project. A further advantage of was necessary for us to start working on the project. A further advantage of