RoboCup2000,theFourthRobotWorldCupSoccerGamesandConferences, washeldfromAugust27thtoSeptember3rd,2000,attheMelbourneExhi- tionCenterinMelbourne,Australia. LikethepreviousinternationalRoboCup events-RoboCup97 in Nagoya, Japan; RoboCup98 in Paris, France; and RoboCup99inStockholm,Sweden-RoboCup2000includedatechnicalwo- shopaswellasseveralroboticsoccercompetitions. RoboCup2000introduced the?rstRoboCupJr. competitionforchildren,aswellasdemonstrationsof humanoidrobotsandoftheRoboCup-Rescuedisasterrescuesimulator. ThisbookdocumentsRoboCup2000. Itconsistsof(i)anoverview;(ii)ch- pionshippapersbythewinnersofthecompetitions;(iii)the?nalistpapersfor theRoboCupchallengeawards;(iv)thepapersandposterspresentedatthe workshop;and(v)descriptionsoftheteamsthatcompeted. Thebookbeginswithanoverviewarticleintroducingthecompetitionsand demonstrationsandincludingthescoresofallofthegamesinthefourc- petitionleagues:thesimulationleague,thesmall-sizerobot(F180)league,the middle-sizerobot(F2000)league,andtheSonyleggedrobotleague. Thefoll- ingsectionpresentsthechampionshippapersfromthewinnersoftheseleagues.TheRoboCupchallengeawardsaredistinctionsthataregivenannuallyto theRoboCup-relatedresearcherswiththegreatestpotentialtoadvancetheir respective?elds. InRoboCup2000,thechallengeaward?nalistswereselected fromamongtheworkshoppapers. Thefourselected?nalistpapersappearin thenextsection. TheannualRoboCupworkshopprovidesaforumforRoboCupresearchers toexchangeideasthataregenerallyapplicableacrossthedi?erentRoboCup leaguesand/orthatareofgeneralscienti?cinterest. TheRoboCup2000wo- shopreceivedmorethan60submissions,fromwhich20wereselectedforfull presentationandanadditional20wereselectedforposterpresentation. These researchpapersformthemainbodyofthisbook. Thebookconcludeswithdescriptionsofmostofthemorethan80teams thatcompetedinRoboCup2000. Theseteamdescriptionsservetocatalogthe fullrangeofresearchersandapproachesthathavebeenappliedtothechallenges putforthbyRoboCup. ThenextinternationalRoboCupeventswillbeheldinSeattle,USA(2001) andinFukuoka,Japan(2002).InadditiontoallexistingRoboCupevents,they arescheduledtointroduce(i)RoboCup-Rescuedisasterrescuecompetitionsfor thetransferofideasandtechniquesdevelopedinthesoccerdomaintoarelated task,and(ii)ahumanoidrobotcompetitionasasteptowardsthelong-termgoal ofcreatingafullteamofhumanoidrobotsthatcompeteonarealsoccer?eld. Welookforwardtocontinuingresearchinnovationsandexcitingdemonstrations ofroboticsandAItechnologyintheseandotherfutureRoboCupevents. March2000 PeterStone,TuckerBalch,andGerhardKraetzschmar RoboCupFederation TheRoboCupFederation,thegoverningbodyofRoboCup,isaninternational organizationthatpromotesscienceandtechnologyusingsoccergamesbyrobots andsoftwareagents.President: HiroakiKitano,JapanScienceandTechnologyCorporation,Japan Vice-Presidents: MinoruAsada,OsakaUniversity,Japan EnricoPagello,UniversityofPadua,Italy ManuelaVeloso,CarnegieMellonUniversity,USA Trustees: Hans-DieterBurkhard,HumboldtUniversity,Germany SilviaCoradeschi,OrebroUniversity,Sweden DominiqueDuhaut,UniversityofSouthernBretagne,France FransGroen,UniversityofAmsterdam,TheNetherlands AndrewJennings,RoyalMelbourneInstituteofTechnology,Australia MilindTambe,UniversityofSouthernCalifornia,USA ExecutiveCommittee: TuckerBalch,CarnegieMellonUniversity,USA AndreasBirk,FreeUniversityofBrussels,Belgium MasahiroFujita,SonyCorp. ,Japan GerhardKraetzschmar,UniversityofUlm,Germany PaulLevi,UniversityofStuttgart,Germany PedroLima,ISR/IST,TechnicalUniversityofLisbon,Portugal HenrikLund,UniversityofSouthernDenmark,Denmark DanieleNardi,UniversityofRome"LaSapienza",Italy ItsukiNoda,ETL,Japan DanielPolani,Lub .. eckUniversity,Germany Raul ' Rojas,UniversityofBerlin,Germany PeterStone,AT&TLabs-Research,USA SatoshiTadokoro,KobeUniversity,Japan GordonWyeth,UniversityofQueensland,Australia AdvisoryCommittee: LuigiaCarlucciAiello,Universit'adiRoma"LaSapienza",Italy DanielBobrow,XEROXPARC,USA MichaelBrady,OxfordUniversity,UK ToshioFukuda,NagoyaUniversity,Japan MichaelP.George?,AustralianAIInstitute,Australia AlanMackworth,UniversityofBritishColumbia,Canada DavidWaltz,NECResearch,USA WolfgangWahlster,DFKI,Germany RoboCup2000OrganizationandSupport GeneralChair: AndrewJennings,RoyalMelbourneInstituteofTechnology,Australia DeputyGeneralChair: JeremySamuel,AustralianAIInstitute,Australia OrganizingCo-chairs: EnricoPagello,UniversityofPadua,Italy ManuelaVeloso,CarnegieMellonUniversity,USA MinoruAsada,OsakaUniversity,Japan SimulatorLeagueCommittee: PaulScerri(chair),Link..opingUniversity,Sweden TomoichiTakahashi,ChubuUniversity,Japan GalKaminka,UniversityofSouthernCalifornia,USA MikhailProkopenko,CSIRO,Australia RyszardKowalczyk,CSIRO,Australia Small-SizeRobotLeague(F180)Committee: GordonWyeth(chair),UniversityofQueensland,Australia Raul ' Rojas,FreeUniversityofBerlin,Germany YukiNakagawa,KitanoSymbioticSystems,Japan AndrewHoward,UniversityofMelbourne,Australia Middle-SizeRobotLeague(F2000)Committee: Ste?enGutmann(chair),UniversityofFreiburg,Germany YongFookSeng,NgeeAnnPolytechnic,Singapore Wei-MinShen,UniversityofSouthernCalifornia,USA PaulParisi,AustralianAIInstitute,Australia SonyLeggedRobotLeagueCommittee: MasahiroFujita(chair),SonyCorp.,Japan MinoruAsada,OsakaUniversity,Japan ManuelaVeloso,CarnegieMellonUniversity,USA DominiqueDuhaut,UniversityofSouthernBretagne,France WorkshopProgramCommittee: PeterStone,(co-chair),AT&TLabs-Research,USA TuckerBalch(co-chair),CarnegieMellonUniversity,USA GerhardKraetzschmar(co-chair),UniversityofUlm,Germany GiovanniAdorni,UniversityofParma,Italy DavidAndre,U. C.Berkeley,USA RonArkin,GeorgiaInstituteofTechnology,USA AndreasBirk,UniversityofBrussels,Belgium AndreaBonarini,PolitecnicodiMilano,Italy MichaelBowling,CarnegieMellonUniversity,USA IanFrank,ElectrotechnicalLaboratory,JAPAN DougGage,SpaceandNavalWarfareSystemsCenter,USA WiebevanderHoek,UtrechtUniversity,TheNetherlands VIII OrganizationandSupport HuoshengHu,UniversityofEssex,UK KurtKonolige,SRIInternational,USA RobinMurphy,UniversityofSouthFlorida,USA LynneParker,OakRidgeNationalLaboratory,USA JukkaRiekki,UniversityofOulu,Finland Wei-MinShen,UniversityofSouthernCalifornia,USA Sho'jiSuzuki,OsakaUniversity,Japan MasayukiOhta,TokyoInstituteofTechnology,Japan GordonWyeth,UniversityofQueensland,Australia Supportedby: FujiXerox Australon RMITUniversity RoboCupWorldWideSponsors: SonyCorporation SGI TableofContents OverviewofRoboCup-2000 ...1 EditedbyPeterStonewithMinoruAsada,TuckerBalch, MasahiroFujita,GerhardKraetzschmar,HenrikLund, PaulScerri,SatoshiTadokoro,andGordonWyeth ChampionTeams FCPortugalTeamDescription:RoboCup2000SimulationLeagueChampion29 Lu'?sPauloReisandNunoLau TheCornellRoboCupTeam...41 Ra?aelloD'Andrea,Tamas ' Kalmar '-Nagy,PritamGanguly, andMichaelBabish CSFreiburg:DoingtheRightThinginaGroup ...52 ThiloWeigel,WilliAuerbach,MarkusDietl,BurkhardDuml .. er, Jens-Ste?enGutmann,KornelMarko,KlausMu..ller,BernhardNebel, BorisSzerbakowski,andMaximilianThiel TheUNSWRoboCup2000SonyLeggedLeagueTeam...64 BernhardHengst,DarrenIbbotson,SonBaoPham,JohnDalgliesh, MikeLawther,PhilPreston,andClaudeSammut ChallengeAwardFinalists AdaptivePathPlannerforHighlyDynamicEnvironments ...76 JackyBaltesandNicholasHildreth CommunicationandCoordinationAmongHeterogeneousMid-Size Players:ART99...86 ClaudioCastelpietra,LucaIocchi,DanieleNardi,MaurizioPiaggio, AlessandroScalzo,andAntonioSgorbissa ALocalizationMethodforaSoccerRobotUsingaVision-Based Omni-DirectionalSensor...96 CarlosF. MarquesandPedroU. Lima BehaviorClassi?cationwithSelf-OrganizingMaps ...108 MichaelWu..nstel,DanielPolani,ThomasUthmann,andJu..rgenPerl X TableofContents TechnicalPapers FullPapers FlexibleSynchronisationwithinRoboCupEnvironment:AComparative Analysis...119 MarcButler,MikhailProkopenko,andThomasHoward ExtendedQ-Learning:ReinforcementLearningUsingSelf-OrganizedState Space ...129 ShuichiEnokida,TakeshiOhasi,TakaichiYoshida,andToshiakiEjima AndtheFansAreGoingWild!SIGplusMIKE...139 IanFrank,KumikoTanaka-Ishii,HiroshiG.Okuno,JunichiAkita, YukikoNakagawa,K. Maeda,KazuhiroNakadai,andHiroakiKitano FastandAccurateRobotVisionforVisionBasedMotion...
