Latest entries for tag 'robocup'

Strong Finish ends with World Champion Title for Carologistics after an exhausting season

On July 7 Carologistics was able to win the Grand Final with a score of 192:109 points against GRIPS from TU Graz. The thrilling final, which concluded an exciting RoboCup 2019, ended with triumphant shouts by the Carologistics team.

The team, consisting of students and scientific staff from the Knowledge-Based Systems Group (RWTH Aachen University) and the Institute for Mobile Autonomous Systems and Cognitive Robotics (FH Aachen, University of Applied Sciences), wins their 5th World Championship of the RoboCup Logistics League. This year‘s RoboCup was held July 2-8 in Sydney, Australia.

With both competitive and research aspects, the RoboCup Logistics League aims to demonstrate the possibilites of a Smart Factory. With the concept of „Industry 4.0“ in mind, production steps have to be divided into actions executable by robots, thus making their automation possible. These actions have to be planned and coordinated fully autonomously by the robots.

Prior to RoboCup 2019, Carologistics was already able to win the German Open held in Magdeburg earlier this year. Their success put them on a steep upward trajectory towards the world championship. Coming in 3rd Place and having to deal with technical issues at last year‘s RoboCup had left some marks on the team members. These marks came to show again after a small mistake in a playoff game against BabyTigers from Japan, which rendered the robots useless for the rest of the game. The resulting tension was finally lifted after the flashing of the red lights of the MPS stations when the final game against GRIPS ended. Now it was official: the trophy is coming home!

Apart from the games, a technical challenge is part of the RoboCup Logistics League. Being the same challenge as last year, Carologistics was keen on winning the technical challenge as well. They had not been able to compete last year, but wanted to show their competence in recognizing the MPS Stations without attached AR-Tags this year. Image recognition based on neural networks proved to be the winning solution for this challenge.

After a most successful RoboCup 2019 the exhausted but happy team returns home from Sydney with both trophies in hand. After a short break the preparations for the upcoming RoboCup 2020 in Bordeaux will start.

Posted by Till Hofmann on July 8, 2019 17:00

Bronze for Aachen’s Carologistics at the RoboCup Logistics League World Championship in Montreal

The team Carologistics, consisting of scientific staff and students of the Cybernetics Lab IMA & IfU, the Knowledge-Based Systems Group (both RWTH Aachen University) and the MASCOR Institute (FH Aachen University of Applied Sciences), came in 3rd place in the RoboCup Logistics League in Montreal on 21.06.2018.

Throughout the tournament, the Carologistics repeatedly struggled with Wi-Fi problems. After the robots did not move, because no communication was possible, all WLAN components were exchanged. The new hardware led to a strong delay and the robots were only minutes later that the game had already started.

Despite the adversities, the team gave everything and was able to work its way forward in the tournament until they were stopped by the new world champion from Graz, who they had defeated in the finals of 2017. The small finals were won by Carologistics, achieving third place in a league that makes major technological leaps every year and shows more and more of what will be possible in the so-called "Smart Factories" of the future.

The RoboCup Logistics League is characterized in particular by the fact that here on a 14 x 8 meter large playing field is shown on a small scale, which in the next few years in so-called "Smart Factories" in Industrie 4.0 context from an intralogistic point of view is possible. So the robots of each team have to explore the playing field and report back which position is which machine. Thus, the robots themselves find the best connections between individual machines. When this first phase (exploration) is completed, in the subsequent production phase it is a question of manufacturing individual products of lot size 1, ie the robots are informed of time slots for orders for products, from which the collective of robots decides when and how Order produced. At the same time, the production process must be broken down into its individual components and interdependencies. This results in tasks with temporal dependencies, which the robots must divide among themselves.

Posted by Till Hofmann on August 30, 2018 09:45

Carologistics win the fourth world championship in Japan

The team Carologistics (RWTH Aachen and FH Aachen) was able to defend their title as world champion of the RoboCup Logistics League against team GRIPS from Graz with 58 to 28 points in a very exciting final on July 30.

In the RoboCup Logistics League, two teams compete with up to three autonomous mobile robots in an intralogistics scenario against each other. The playing field is a smart factory from the context of the Industry 4.0, where intelligent machines manufacture complex products in varying production environments.The scenario is particularly characterized by the comprehensive communication and cooperation of the mobile robot. In the first phase of the game, the robot team explores the previously unknown playing field, creating a common "world view". In the second phase, the electronic referee (RefBox) announces complex products that must be produced cooperatively. In this phase, the robots have to re-plan frequently, as the opponent plays on the same field and therefore the accessibility of paths or machines is always subject to variations, because machines spontaneously switch to a maintenance condition and can not be used at this time, and because individual steps such as grasping a product may fail occasionally.

In this year's finals, the production phase started with an exciting head-to-head race of the two opponents. The first finished product of team Carologistics was lost in a slight, rule-compliant collision with a GRIPS robot. The team from Graz was able to keep up by preparing additional production steps. Only with the second produced and first successfully delivered product, Carologistics gained an advantage that ultimately lead to Carologistics’ triumph. A third product was also produced, but was delivered two seconds after the end of the game and thus no longer counted.

The Carologistics, which won the world championship for the fourth consecutive time, consists of scientists and students of the Cybernetics Lab IMA/ZLW & IfU (RWTH Aachen, Mechanical Engineering, Prof. Sabina Jeschke), the Knowledge-Based Systems Group (RWTH Aachen, Computer Science, Prof. Gerhard Lakemeyer), and the MASCOR Institute (FH Aachen, Electrical Engineering and information technology, Prof. Alexander Ferrein). This year was a very special RoboCup. Exactly 20 years after the very first RoboCup in Nagoya, Japan, RoboCup returned to its birthplace.The Carologistics could not only inspire tech-savvy people with their robots, but to the delight of the spectators, they also moderated their games in Japanese. In addition to the world title, the Carologistics won the Technical Challenge, where different types of machines had to be identified only by image processing and without the normally used AR tags, and where the teams had to play a game in a cloud-based simulation.

Next year the RoboCup will be held from June 15 to June 22 in Montreal, Canada. In addition, there will be another German Open in Magdeburg.

Posted by Till Hofmann on August 1, 2017 09:00

Carologistics win third-in-a-row RCLL title

In a breath-taking final, the joint team Carologistics from RWTH and FH Aachen was able to defend their title against team Solidus from Switzerland with 94:26. This is the third championship in a row that the team won in the RoboCup Logistics League at the international RoboCup competitions . The team consists of researchers and students from the Cybernetic Cluster (RWTH Aachen, Mechanical Engineering, Prof. Sabina Jeschke), the Knowledge-Based Systems Group (RWTH Aachen, Computer Science, Prof. Gerhard Lakemeyer) and the MASCOR Institute (FH Aachen, Electrical Engineering and Information Technology, Prof. Alexander Ferrein).

RoboCup 2016 champions photo

In the RoboCup Logistics League two teams compete with three autonomous mobile robots each in an intra-logistics scenario. The scenario reflects the idea of an industry 4.0 setting, where intelligent machines take over building complex products in a dynamic production process. First, robots have to explore their environment to locate and identify the machines available. Then, an optimal flow of material using these machines is planned and realized.

This year again a technical challenge was held. It features taks alongside the main competition to test possible future developments of the league. One goal amongst others was to locate the modular production stations without the help of markers (e.g. QR or AR tags). The team Carologistics was able to reach first place in this challenge as well. Apart from this challenge, for the first time, a RoboCup Industrial Cross-Over-Challenge was arranged. In this challenge teams from the RoboCup Logistics League and from RoboCup@Work collaboratively work on a common task. The Carologistics team already published their software in 2014 and 2015 and they were awarded the third place of the 1st International Harting Open Source Award.

Besides their strong basic capabilities in environment perception and navigation the robots from the Aachen Carologistics team scored with their robust decentralized multi-agent strategy. This strategy is particularly fitted for highly complex, only partially known and dynamic environments. After a convincing preliminary round and playoff-phase the Carologistics had to face team Solidus from Switzerland in the grand final. With a strong performance the Aachen robots were able to clearly secure their victory. This also reinforces Aachen's current role as a leading place for science and research in mobile robotics and artificial intelligence.

Next year, after 21 years RoboCup will be held in its birth place Nagoya in Japan again, where was held for the first time in 1996.

(Text translated from the German Press Release by Stefan Schiffer)

Posted by Christoph Henke on July 11, 2016 11:30

Robocup 2016 in Leipzig - the story begins

We made it to Leipzig yesterday. After watching the germans reach the quarterfinals, we enjoyed the beatiful sunset at our lake. Today we did a sightseeing tour through Leipzig by Bus and visited the very impressive Monument to the Battle of the Nations called 'Völkerschlachtdenkmal'. Now we are back to hacking at the lake...

Posted by Johannes Rothe on June 27, 2016 19:00

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

We did it!

More infos coming soon...

Posted by Johannes Rothe on July 24, 2014 13:14

Round Robin (Day 1)

Day 1 of the round robin phase of the Festo Logistics League is finished. The first game versus Team Solidus from Switzerland we won 80-18. The second game versus Team Baby Tigers from Japan we won 101 to 10. But we have to say these results don't really show the big problems we had in the games. One reason was a really disrupted light detection because of the sun shining through the colored flags which are hanging in the venue. Also some low level skills had some minor erros which obviously have a big effect on the whole game. And because of that we couldn't perform as well as in the training games on the setup days.

After the games we attented in the navigation challenge. It was a happy end of the day, because we won the challenge! Read and see more about it in the official blog post.

After the challenge the field was free for all the teams to fix the problems and test them. The vision got tuned and we also found some bugs in the skills and agent. We only had a small time frame to test the whole system because the last busses are leaving the venue at 11pm. So we have to see in todays games if the whole system will perform better to qualify for the playoffs.

So keep the fingers crossed and stay tuned to the blog. You can follow our twitter hastag at #Carologistics. LIVE results of the games can be found here.

Posted by Johannes Rothe on July 22, 2014 10:01

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

RoboCup 2014 has begun

The RoboCup 2014 is taking place in Joao Pessia, Brasil. 10 teams are battling for the Cup in the Logisitics League sponsored by Festo. Two teams are from Germany - The Bavarian Bending Untis from Munich, and ourselves, Team Carologistics from Aachen. Besides that, 3 teams from Brazil, one from Japan, Egypt, Mexico, Switzerland and one from France. As strong changes have been made to the rulebook as well as the playground - the cards are re-shuffeled. (Please see the official league homepage for more details.) This year, the teams have to show that their robots are able to avoid collisions and track their own position on the large playground. As most teams have relied on odometry only to track their position and followed predefined paths without collision avoidance this means a large challange for them.

Stay tuned for more infos on this Blog.

Posted by Johannes Rothe on July 19, 2014 14:53

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

Second day at the Robocup Eindhoven

Compared to yesterday the vistor count has doubled but there is still a lot of space, and especially seated stands to fill. Also some new attractions arrived today like a second robot Band.

Trying to get es much preperation time as possible the Carologistics team arrived to early this morning and had to wait for the doors to open. The Halls were filled very quickly with busy participants and the preperations began.

The technical challenge today was the robot version of the famous amusement park game whack-a-mole. Luckily the challenges do not count for the tournament because the robot failed to connect to the Ref-Box. The challenge was prepared all morning and looking good in the tests but since we had to use the official access point the communication failed and the robot could not even begin his work.

Fortune didn't smile above the second game of the Carologistics team. Many Problems occurred which wasn't all caused by the robots. Some of the puck was upside down and that made it significantly more difficult for the machines to detect the RFID Chips. Nobody noticed the mistake till it was too late. Also another maintenance had to be called because a robot got stuck in front of the Input Storage trying to get a new Puck.
Good news are that the robots are still working properly with minor things to improve. An other crash was prevented and the Exploration Phase was passed without any trouble. Despite the problems the team had scored 74 points when the game ended. It had been the other way around, not much points through delivery but a good amount from the Exploration Phase. Over all they could live up to their expectations. All the mistakes are noted and get special attention in the next matches.

No game without maintenance so far and other problems. The third game provided the Carologistics with a disconnected Laptop during the maintenance and extremely bad luck with the delivery gate. In nearly all cases the last of the three gates were active. Against all odds the team scored their new record of 116 points!! Only surpassed by the champion from last year, the team of Munich.

Posted by Richard Schulz on June 27, 2013 15:38

The first day at the Robocup 2013

The Robocup started officially this morning and the preliminary round have begun. Not many visitors showed up today but the halls are filled with busy engineer and programmers working on all kinds of robots.

The Carologistics team arrived clocklike at 8 o'clock this morning at the Eindhoven Sports Center where the Robocup takes place. But before they could prepare for the match they had to face the first of three challenges.

The first challenge was to navigate across the field with several obstacles blocking the way. Suprisingly only one out of five teams the "Baby tigers" from from Japan could finish this task. The Carologistic's robot, unforunatly, turned the wrong way in the begining and lost his orientation which he could not restore.

The real match began at 14:00. Due to a mistake in the preperation, both robots checked the same machines during the exploration phase. One Robot had been taken out for maintenance after they recognised the mistake. The rest of the Match went out pretty good in return.
The Robots crashed one time slightly in each other but both robots survived the incident and could navigate away. At the second time they were crossing each others paths was detected early enough to avoid a crash. Ninety-six points were scored by the Carologistics and the first match was a success. Instead of celebrating the team is still focused and working on improving the game.

Posted by Richard Schulz on June 26, 2013 20:00