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Robotic Soccer (RoboSoccer)
Head: Manuela Veloso
Contact: Manuela Veloso (veloso@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Wean Hall 1302
5000 Forbes Avenue
Pittsburgh, PA, 15213

Associated lab/group: MultiRobot Lab

For more information, see this project's homepage.

This page last updated - January 1999.

Problem solving in complex domains often involves multiple agents, dynamic environments, and the need for learning from feedback and previous experience. Robotic soccer is an example of such complex tasks for which multiple agents need to collaborate in an adversarial environment to achieve specific objectives. Robotic soccer offers a challenging research domain to investigate a large spectrum of issues of relevance to the development of complete autonomous agents.

Our goals are to create teams of robots that can act autonomously as a cohesive team in adversarial domains, This means they must be able to perceive the world and opponents, communicate with one another, conceive and execute complex coordination actions as a team that best respond to the actions of the opponent team. We have many sub-projects within robot soccer including:

• CMPack: a team of Sony AIBO's
• CMDragons: a team of custom built small-size robots
• CM-RMP: a Segway RMP soccer team
• CMOwl: a simlation team and coach

Name - Title <Email Address>
• [Home] Brett Browning - Senior Systems Scientist <brettb@cs.cmu.edu>
• James Bruce - PhD Student, CS <jbruce@cs.cmu.edu>
• Sonia Chernova - PhD Student, CS <soniac@cs.cmu.edu>
• Yang Gu - PhD Student, CS <guyang@cs.cmu.edu>
• Scott Lenser - PhD Student, CS <slenser@cs.cmu.edu>
• Colin McMillen - PhD Student, CS <mcmillen@cs.cmu.edu>
• [Home] Patrick Riley - PhD Student, CS <pfr@cs.cmu.edu>
• [Home] Paul Rybski - Systems Scientist <prybski+web@cs.cmu.edu>
• [Home] Manuela Veloso - Professor, CS <veloso@cs.cmu.edu>

• Interactive Robot Task Training through Dialog and Demonstration
  P. Rybski, K. Yoon, J. Stolarz, and M. Veloso
  2nd ACM/IEEE International Conference on Human-Robot Interaction, March, 2007. [Abstract]
  Download: pdf [500 KB] copyrighted

• CMAssist: A RoboCup@Home Team
  P. Rybski, K. Yoon, J. Stolarz, and M. Veloso
  tech. report CMU-RI-TR-06-47, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [2573 KB] copyrighted

• Turning Segways into Soccer Robots
  J. Searock, B. Browning, and M. Veloso
  In Proceedings of IROS'04, September, 2004. [Abstract]
  Download: pdf [1030 KB] copyrighted

• Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots
  J. Searock, B. Browning, and M. Veloso
  In Proceedings of the Eighth RoboCup International Symposium, July, 2004. [Abstract]
  Download: pdf [600 KB] copyrighted

• Development of a soccer-playing dynamically-balancing mobile robot
  B. Browning, P. Rybski, J. Searock, and M. Veloso
  Proceedings of International Conference on Robotics and Automation (ICRA'04), May, 2004. [Abstract]
  Download: pdf [396 KB] copyrighted

• Segway CMBalance Robot Soccer Player
  J. Searock, B. Browning, and M. Veloso
  tech. report CMU-CS-04-143, Computer Science Department, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [775 KB] copyrighted

• Plays as effective multiagent plans enabling opponent-adaptive play selection
  M. Bowling, B. Browning, and M. Veloso
  Proceedings of International Conference on Automated Planning and Scheduling (ICAPS'04), 2004. [Abstract]
  Download: pdf [547 KB] copyrighted

• Skill acquisition and use for a dynamically-balancing soccer robot
  B. Browning, L. Xu, and M. Veloso
  Proceedings of Nineteenth National Conference on Artificial Intelligence (AAAI'04), 2004. [Abstract]
  Download: pdf [189 KB] copyrighted

• STP: Skills, tactics and plays for multi-robot control in adversarial environments
  B. Browning, J. Bruce, M. Bowling, and M. Veloso
  IEEE Journal of Control and Systems Engineering, 2004.

• A Real-time World Model for Multi-Robot Teams with High-Latency Communication
  M. Roth, D. Vail, and M. Veloso
  Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 3, October, 2003, pp. 2494 - 2499. [Abstract]
  Download: pdf [554 KB] copyrighted