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世界大会への出場資格があるかどうかを判断する材料として、Qualification Video（審査用動画）の提出が必要です。Ri-oneは、毎年動画を製作しています。
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論文 (SSL)
RoboCup 2025 TEAM DESCRIPTION PAPER Ri-one
This paper is about our team’s bid to qualify for the RoboCup 2025 soccer small size league tournament. In addition, our team’s robot and system are redesigned according to the result of RoboCup2024. Our organization conducts research and analysis in the areas of hardware, circuits, and software. In hardware, we will propose our newly developed dribblers, taking into account the improvements of the previous air-frame. In circuitry, we worked on developing a motor driver and made changes to the control system. Finally, in software, we propose a new ball detection method and the selection of the optimal route searching algorithm. Our approach should appropriate in the competition.
This paper describes the team’s efforts to compete in the RoboCup 2024 soccer small league tournament. Based on the results of RoboCup2023, we also designed the robot and reconstructed the system.We are developed the hardware, circuits, and software.On the hardware side, we introduced user interface (UI) features anddescribe our objectives and progress. We also propose a newly developeddribbler based on improvements to the existing machine. Finally, weexperimented with the relationship of speed with kicker position.In the circuit, we describe the improvements made to the kicker boostcircuit and updated from last year. Finally, in software, we propose an algorithm for a new soccer strategyand try to introduce new software to improve control and ball detectionusing cameras.
This paper is about our team’s bid to qualify for the RoboCup-2023 soccer small size league tournament. In addition, our team’s robotand system are redesigned according to the result of RoboCup2022. Ourorganization conducts research and analysis in the areas of hardware,circuits, and software. In hardware, we will propose our newly developeddribblers and wheel units, taking into account the improvements of theprevious air-frame. In circuitry, we attempted to develop a brush-lessmotor driver and tried to redesign a circuit to increase the kick force. Finally, in software, algorithms for soccer strategies will be proposed.Our approach should appropriate in the competition.
This paper will be used to qualify for the RoboCup2022 Soccer Small League Tournament. Our
team’s robots and systems are designed according to the rules of RoboCup 2020. Our research
activities are based on classifying activities into hardware, software and circuits and repeating
various operational tests. This paper describes software in terms of its overall structure and
obstacle avoidance algorithms. We are also working to enhance communication and debugging
by creating a GUI. The hardware describes innovative technology with dribblers and wheel units.
In the circuit, we challenged to develop a new motor driver and designed the circuit to stabilize
the power supply.
論文 (Rescue Simulation)
RoboCup Rescue 2023 TDP Agent Simulation Ri-one (Japan)
Ri-one 2023 focused on the development and improvement of Agents. Wemodified the search method and extended the search area for ambulans teams(ATs), firebrigades(FBs), and police forces(PFs). In addition, the search method is changed when anagent hears the voice of a civilian, making it easier to detect those who are seeking help. In PF, the priority was given to the removal of debris around the voice of a civilian toexpand the search range when their voice is heard.
We developed the system Dynamic Task Management which is implemented in Ri-one 2021. We implemented the method of integrating two indices of evaluation of deciding target: Priority and Unstableness, we realized flexible calculation. In ambulance teams (ATs), AT's module takes into capacity of refuges into account. We calculated waiting time for civilians to get treated at the refuge by using queuing theory and Approximate Manhattan Distance. AT's module compared civilian's HP at the time being observed and damage until waiting time for civilians to get treated at each refuge, and realized responses adopted to changes in Robocup 2022. As a result, the score increased compared to the implementation in 2021.
We focused on Agent development and improvement this year. Police forces (PFs) were implemented the removing blockade process to avoid agent's being stuck. In ambulance teams (ATs) and fire brigades (FBs), we introduced triage; classifying and prioritizing civilians, we realized flexible responses in selections of injured civilians and transportation to refuges. Furthermore, we implemented a dynamic target determination mechanism called dynamic task management in all agents. This mechanism led to a significant improvement in efficiency and a reduction in the amount of calculation. As a result, the score increased compared to the implementation in 2019.
We implemented new methods in modules: we implementeda new path planning for agents to pass intersections; Gaussian mixturemodel was implemented for clustering instead of K-means algorithm.We implemented new strategies: efficient assignment of ambulance teams(AT) for victims according to a dynamic changing condition of AT andtime was implemented; fire brigades (FB) was implemented to extinguishthe fire near the gas station in priority; a method of beforehand extinguishing the buildings that were not burning and adjacent to the burningbuilding was implemented for FB; a method of removing blockades onroads near a refuge in priority was implemented for police forces (PF); To evaluate the method an experiment was performed.
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