Latest entries written by Tim Niemueller

RoboCup Logistics Software Stack Release 2016

RCLL 2016 Simulator Screenshot The Carologistics RoboCup Team has released their software stack of 2016 based on Fawkes 1.0.0 for the RoboCup Logistics League. It is a continuation of the release last year. It includes, for example, direct communication with the Robotino for time-stamped and faster data access and many improvements to the basic skills of the robot, tooling, and simulation integration.

The following video shows the RoboCup 2016 finals between the Carologistics and Solidus. The released software stack is the one used by the Carologistics team, which won the competition.

Details about the release and a video of the simulation are available on the RCLL software stack 2016 release page.

Posted by Tim Niemueller on February 8, 2017 14:00

Successful Winter School

RoboCup Logistics League Winter School Group PhotoFrom December 7th to 11th, the Carologistics Team organized the first RoboCup Logistics League Winter School in Aachen, Germany. Participants of new and existing teams from Germany, Austria, and Japan attended the event. The winter school was held to help new teams to start into the league and existing teams to adapt to the invasive rule changes performed in the past few years.

The content was based on the (pending) full 2015 software stack release of the Carologistics team to better understand and tackle the problems of perception, navigation and self-localization, using and extending the RCLL simulation and the behavior sub-systems like the Lua-based Behavior Engine and the CLIPS agent.

The winter school was supported by Festo Didactic SE and the RoboCup Federation. The feedback of the participants was very positive and the team enjoyed sharing and discussing ideas with the RCLL community at large!

We are currently preparing the material and will release the videos of the talks in January. The slides and information material can be found on the winter school wiki page.

Posted by Tim Niemueller on December 15, 2015 13:37

RoboCup Logistics League Winter School 2015

The RoboCup Logistics League (RCLL) is one of the youngest of the RoboCup leagues. It is an application-driven league inspired by the industrial scenario of a smart factory. In 2015, the introduction of MPS processing stations and increasing the number of possible products from 3 to nearly 240 has made the RCLL more complex and challenging.

The Carologistics RoboCup team, which won the competition in 2014 and 2015, intends to organize a RoboCup Logistics League Winter School in Aachen, Germany. The purpose is to disseminate the state of the art in the RCLL. This winter school targets new and existing teams for the RCLL. For new teams it will lower the barrier to enter the competition by learning from an existing open-source software stack and simulation. Theoretical sessions will detail the applied methods in fields like perception, navigation, simulation, or behavior. This will be be supplemented by practical hands-on sessions.

More information and a link for the registration is available on the RoboCup Logistics League Winter School 2015 page.

Posted by Tim Niemueller on November 3, 2015 13:00

New Publications ICAPS and RC 2014 and 2015

We have added several new publications to our page.

Posted by Tim Niemueller on June 25, 2015 14:30

Winner German Open 2015

The Carologistics RoboCup team was successful again this year at the RoboCup German Open 2015.

This year, the league used actual processing stations based on the Festo Modular Production System (MPS) for the first time. Additionally, the machines were placed freely within certain zones on the field (therefore neither the exact position nore orientation was known before the game) and the number of product variants increased from 3 to almost 300. This made several adjustments necessary to the robot teams as well as to the referee box, the program controlling the environment and machines during the game.

By the end of the tournament we were able to almost complete the exploration phase with only a single machine missing. The robots then executed the first steps for the production phase, but eventually failed as the handling of the machines was not yet precise enough. The robots coordinated to use the stations in the proper order, but the products were not placed properly on the conveyor belt. This is a challenge we will work on on the way towards RoboCup 2015 in Heifei.

Posted by Tim Niemueller on April 26, 2015 12:00

Software 2014 Release

LLSF Simulator Screenshot RoboCup is particularly well-known for its soccer leagues, but there are an increasing number of application leagues. The newest one is the RoboCup Logistics League (RCLL) where groups of robots take on the task of in-factory production logistics. Development of a robust and capable integrated system to operate a group of autonomous mobile robots for an environment like the RCLL can be a tedious and longsome enterprise. This can be a barrier for new (or rebooting) teams and slow down even seasoned teams.

To foster the development of the RCLL as a whole and in the hope to serve as an example, we release our full software stack used for winning the RCLL 2014 today. It is based on the Fawkes Robot Software Framework. While major parts have always been openly available, the release also includes all parts which we developed in private specific to this domain and which we considered to be our competitive edge. We provide this in one coherent and tested package that will reduce the effort required to get a full running robot for the RCLL tremendously.

Some of the highlights that the package contains are components for localization and navigation, perception and vision, basic behaviors (skills) using our Lua-based Behavior Engine, and the complete task-level executive based on CLIPS. With the included simulation integration, you can immediately start and have a complete system that performs the 2014 game on the same level as the world champion.

The software has been developed for more than eight years by numerous people and has been used in the Middle-Size and Standard Platform soccer leagues, the RoboCup@Home league, the RCLL, and projects aside from RoboCup, like Hybrid Reasoning for Intelligent Systems and HERB at CMU. In the last three years the Carologistics team has been the major driving force developing the framework and its components to its present state.

We invite teams to take a look and adopt Fawkes as their software platform. All parts are Open Source software and the vast majority of components are developed in the public. We welcome contributions from anyone and hope to help newcomer teams to get a better start. In combination with the now publicly developed simulation for the 2015 game, it should be far easier to perform better than ever before.

More detailed information are available on the Fawkes LLSF 2014 Release Page.

Posted by Tim Niemueller on March 30, 2015 18:00

Simulation Tournament

Last winter semester we have had a lab course on developing an alternative agent system for behavior control of our group of robots in simulation. The students succeeded and developed a capable agent system. To conclude the lab course, we are now running a little simulation tournament for which we provide semi-live statistics while running. The game is played by the rules of 2014 (light signal machines).

We invite you to take a look at the live stats how the games are going (temporarily available until the end of the tournament in a few days).

Credit goes to the students who worked hard to get to this point and to the Carologistics RoboCup Team which provided the base and simulation systems, on which the lab success builds.

This simulation tournament is a first for the RoboCup Logistics League!

Posted by Tim Niemueller on March 20, 2015 12:00

Carologistics win the Racing Challenge

The Carologistics won the racing challenge showing quick motions and capable collision avoidance. This is a new aspect introduced into the game this year by putting two teams on the field. This additional technical challenge then brings in a focus on speed while still avoiding collisions. Teams are increasingly implementing the necessary changes. The Carologistics had a head start being able to re-use existing code from the AllemaniACs RoboCup Team and extending it for holonomic drive and tuning it for quicker stops at higher speeds.

Below are videos of the challenges from the robot's and from the spectators perspectives.

Posted by Tim Niemueller on July 22, 2014 09:14

Campus52 TV snippet about the Carologistics

The Campus52 campus TV has created a short documentary about our preparations for the RoboCup 2014 competitions in Brazil. We think it's great and thank them for their efforts!

We have now arrived and are preparing in the hotel in Joao Pessoa. You can find a flow of posts about our progress on Twitter with the #Carologistics hashtag.

Posted by Tim Niemueller on July 18, 2014 13:28

Final preparations for RoboCup 2013

The Carologistics is preparing for RoboCup 2013 taking place in Eindhoven next week. Besides the typical changes to the behavior code of the robots, the team is also working on integrating and extending and overhead camera system into the LLSF referee box. This system will be tested as a prototype during the competition.

Posted by Tim Niemueller on June 21, 2013 12:19

The Carologistics got a website

We are going to fill the website with content step by step.

Posted by Tim Niemueller on May 30, 2013 16:12