Dynamic Positioning Based on Voronoi Cells (DPVC)

DOI: 10.1007/11780519_20

ABSTRACT In this paper we are proposing an approach for flexible positioning of players in Soccer Simulation in a Multi-Agent environment.
We introduce Dynamic Positioning based on Voronoi Cells (DPVC) as a new method for players’ positioning which uses Voronoi Diagram for distributing agents in the field. This method also uses Attraction Vectors that indicate agents’ tendency to specific objects in the field with regard to the game situation and players’ roles. Finally
DPVC is compared with SBSP as the conventional method of positioning.

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    ABSTRACT: This paper describes a method for a real-time calculation of a dominant region diagram (simply, a dominant region). The dominant region is proposed to analyze the features of group behaviors. It draws spheres of influence and is used to analyze a teamwork in the team sports such as soccer and handball. In RoboCup Soccer, particularly in small size league(SSL), the dominant region takes an important role to analyze the current situation in the game, and it is useful for evaluating the suitability of the current strategy. Another advantage of its real-time calculation is that it makes possible to predict a success or failure of passing. To let it work in a real environment, a real-time calculation of the dominant region is necessary. However, it takes 10 to 40 seconds to calculate the dominant region of the SSL’s field by using the algorithm proposed in [3]. Therefore, this paper proposes a real-time calculation algorithm of the dominant region. The proposing algorithm compute an approximate dominant region. The basic idea is (1) to make a reachable polygonal region for each time t 1, t 2, ... , t n , and (2) to synthesize it incrementally. Experimental result shows that this algorithm achieves about 1/1000 times shorter in computation time and 90% or more approximate accuracy compared with the algorithm proposed in [3]. Moreover, this technique can predict the success or failure of passing in 95% accuracy.
    RoboCup 2009: Robot Soccer World Cup XIII [papers from the 13th annual RoboCup International Symposium, Graz, Austria, June 29 - July 5, 2009]; 01/2009
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    12/2007; , ISBN: 978-3-902613-21-9
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    ABSTRACT: In this paper, we propose a new technique to compute, in real time, the positions of robots in a cooperative play such as the pass-and-shoot play. To evaluate the positioning of the robot, we use the Dominant Region (DR) diagram, which is a kind of a Voronoi diagram. In the DR diagram, the soccer field is divided into regions, each of which shows an area that a robot can reach faster than the other robots. This division is based on the time of arrival while the division by the Voronoi diagram is based on the distance of arrival. Though the DR diagram plays a primary role in the positioning of the robots, it has a serious problem of taking much computation time. To overcome this problem, we show an approximate calculation procedure to obtain the DR diagram, which realizes the real time computation, i.e. a computation within a frame time. Applying the approximate dominant diagram to the positioning of the robots for the pass play, we show, by the simulation study, • the DR diagram can be calculated in real time, • an appropriate position for the pass play can be obtained.
    01/1970: pages 488-495;

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