Author :
Herrero-Pérez, D. ; Bas-Esparza, F. ; Martínez-Barberá, H. ; Martín, F. ; Agüero, C.E. ; Gómez, V.M. ; Matellán, V. ; Cazorla, M.A.
Author_Institution :
Murcia Univ.
Abstract :
"Team Chaos" is a multi-university team which has been competing in the 4-legged robot league of RoboCup since 1999. This paper shortly describes the Team Chaos entry for RoboCup 2006. The most distinctive points of our team are: (i) a general, principled architecture for autonomous systems, (ii) hierarchical fuzzy behaviors for fast incremental development of robust behaviors, (iii) fuzzy landmark-based localization for efficient, fault-tolerant self-localization. The main improvements for 2006 are: (i) improved vision-based perception, (ii) natural landmarks (corners on field) for self-localization, and (iii) improved cooperative perception and behavior
Keywords :
fault tolerance; fuzzy control; legged locomotion; multi-robot systems; robot vision; robust control; sport; 4-legged robot league; RoboCup; Team Chaos 2006; autonomous systems; cooperative perception; fault-tolerant self-localization; fuzzy landmark-based localization; hierarchical fuzzy behaviors; robust behaviors; vision-based perception; Chaos; Chaotic communication; Computer architecture; Fuzzy systems; Legged locomotion; Mobile robots; Orbital robotics; Robot kinematics; Robot sensing systems; Robustness;
Conference_Titel :
Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American
Conference_Location :
Santiago
Print_ISBN :
1-4244-0537-8
Electronic_ISBN :
1-4244-0537-8
DOI :
10.1109/LARS.2006.334344
