History
A brief chronological history of the RoboRoos Team. The history focuses on the changes to the RoboRoos various systems from 1998 onwards.
| 1998 | |
|---|---|
| ROBOCUP COMPETITION | (Paris, France) Second Place Overall |
| MECHANICAL | Initial Design. Differential (wheelchair) drive system. |
| MULTI-ROBOT CONTROL | Simple System |
| NAVIGATION / ACTION | Grid based navigation system. |
| MOTION CONTROL | Robots able to traverse and align to goal locations. |
| ELECTRICAL | First Design of main CPU board. Features Motorola's MC68332. NiCd Batteries |
| VISION | First write. |
| CORE / SIMULATOR | First write. Can compile robot code to simulator and robots. |
| 1999 | |
| ROBOCUP COMPETITION | (Stockholm, Sweden) Knocked out in the quarter final. |
| MECHANICAL | Minor Changes |
| MULTI-ROBOT CONTROL | MAPS (Multi-Agent Planning System) Potential field based system. |
| NAVIGATION / ACTION | Conversion to reactive navigation system |
| MOTION CONTROL | Added curve motion. |
| ELECTRICAL | Minor Changes |
| VISION | Rewrite. |
| CORE / SIMULATOR | Minor Changes |
| 2000 | |
| ROBOCUP COMPETITION | (Melbourne, Australia) Knocked out in the semi final. |
| MECHANICAL | New Goalie robot. |
| MULTI-ROBOT CONTROL | Updating MAPS. |
| NAVIGATION / ACTION | Minor changes |
| MOTION CONTROL | Minor Changes |
| ELECTRICAL | Conversion to NiMH Batteries |
| VISION | Rewrite. Now uses blobs. New camera |
| CORE / SIMULATOR | Minor Changes |
| 2001 | |
| ROBOCUP COMPETITION | (Seattle, USA) Knocked out in the quarter finals |
| MECHANICAL | Complete mechanical redesign. Now have an omnidirectional drive system and a powerful crossbow kicker. |
| MULTI-ROBOT CONTROL | Minor Overhaul |
| NAVIGATION / ACTION | Overhaul to take advantage of new mechanical design. |
| MOTION CONTROL | Rewrite to control new mechanical design. |
| ELECTRICAL | Redesign for new mechanical design. |
| VISION | Conversion to YUV. First go at perspective and lens correction. |
| CORE / SIMULATOR | Rewrite to accomodate new mechanical design. |
| 2002 | |
| ROBOCUP COMPETITION | (Fukuoka, Japan) RoboRoos were knocked out in the round robin competition. |
| MECHANICAL | Added a ball control device (dribbler). |
| MULTI-ROBOT CONTROL | Addition of some new actions |
| NAVIGATION / ACTION | Aquire ball and kick code update. |
| MOTION CONTROL | Able to move with ball centred motion. |
| ELECTRICAL | New WirelessSpread Spectrum Communication System (250kbs) |
| VISION | Upgrade to a Basler FireWire camera. (Digital 640x480@88fps) |
| CORE / SIMULATOR | Minor Changes. |
| 2003 | |
| ROBOCUP COMPETITION | (Padua, Italy) Second Place Overall. |
| MECHANICAL | Dribbler simplified |
| MULTI-ROBOT CONTROL | Rewrite of existing control system |
| NAVIGATION / ACTION | Rewrite of existing system |
| MOTION CONTROL | Analysis and optimisation of control system |
| ELECTRICAL | None |
| VISION | 70+ fps. Twin Camera system. Kalman Filter. New 'paint' colour calibration. Improvements to perspective and lens correction |
| CORE / SIMULATOR | Complete Rewrite. Navigation moved from robots to PC. OpenGL Rendering Engine. Socketed AI/Vision System. Playback System |
| 2004 | |
| ROBOCUP COMPETITION | (Lisboa, Portugal) Second Place Overall. |
| MECHANICAL | Next generation kicker (for 2005) |
| MULTI-ROBOT CONTROL | Opponent classification, modelling, prediction and exploiting. |
| NAVIGATION / ACTION | Newton method acquire ball |
| MOTION CONTROL | None |
| ELECTRICAL | Inertia Measurement Unit (for 2005) |
| VISION | Auto field and region gaining, update for larger field |
| CORE / SIMULATOR | Update for larger field |