A Realistic Simulation Testbed for Studying Game Playing in Robotic Soccer International Conference on Self-Organization and Adaptation of Multi-agent and Grid Systems (SOAS), Glasgow–Scotland, Frontiers in Artificial Intelligence and Applications, Volume 135, Self-Organization and Autonomic Informatics (I), IOS Press, pp. 105-113, Dec. 2005. [BibTeX]

Authors > Mahdi Asadpour, Mansour Jamzad. Pictures Movies Source codes

ABSTRACT The main goal of any testbed is to facilitate the trial and evaluation of ideas that have promise in the real world. In fact, in a real platform several physical or hardware restrictions exist and maybe arise for an agent or robot. These restrictions affect the performance of implemented algorithms. To the best of our knowledge, at present, only RoboCup Soccer Server is a common testbed for simulating a soccer game, but it can not support the above mentioned physical limits on real robot. In order to overcome these problems, we designed and implemented an especial testbed called SharifCE that is modeled and simulated with Webots Software and is very similar to Middle Size RoboCup. This testbed allows the user to define a probability for a fault occurred on any internal part of the robot. This is done by a fault injection procedure. Our experimental results convinced us that SharifCE Testbed is quite appropriate for Multiagent Systems (MAS); because not only it is similar to a real platform, but also it supports the necessities such as Movement, Communication, Supervision, Cooperation and Learning. As an experimental result a practical implementation of this testbed is presented. IOS Press link: see here ... Link to PDF: here ... (not the published version) KEYWORD SharifCE Testbed, Realistic Simulation, Multiagent Systems, Soccer Simulation, Fault Injection. PICTURE The generic soccer robot with its devices. Scenes of Turn, Kick, Camera output. The Multiagent System; two robots (I and J) cooperate with each other to do a best kick. A Match between two teams of robots. Images which was captured by their cameras are shown too. The field of play with lines, flagposts, goals and etc. Collision between yellow and blue teams. MOVIE Use WINRAR program (for .rar files) to unzip the movie files, then use Windows Media Player to open/watch them. The user can define a probability of each fault that would be injected during the test. The blue team members cooperate with each other; when one member gets the ball, another one goes to opponent goal and the remainder goes to own goal to defend against the yellow team. [1,458 KB] Arvand mechanical ability to rotate around the ball and etc, here ... [0,411 KB] Cooperation between the blue team members to do a power play, here ... [1,288 KB] Another view of Arvand (16 seconds), here ... [1,800 KB] Another cooperation between the blue team members, here ... [4,538 KB] A complete (10 minutes in simulation time) match, here ... [3,988 KB] When the blue team (arvand01) won, here ... [2,123 KB] When the yellow team (arvand02) won, here ... [0,226 KB] Blue team kicks the ball to yellow goal, here ... [1,541 KB] Blue goalkeeper, here ... [4,568 KB] Another one, here ... [0,843 KB] Yellow goalkeeper, here ... [1,041 KB] One scene of damaging during the match, here ... [1,533 KB] Cooperation between blue team members, here ... [...] more movies, 11 , 12 , 13 , 14 . SOURCE CODE Complete source code in one, here ... Fault Injection program in Microsoft Visual C++6, here ... Worlds, here ...

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