Project MSD19

Internal Navigation

1. Main
2. System Architecture
3. Implementation
4. Conclusions & Recommendations
5. Manuals

Background

Two agents will be used to referee the game: a drone moving above the pitch and a remote human referee, receiving video streams from a camera-gimbal system attached to the drone. The motion controller of the drone and camera system must provide video streams allowing for an adequate situation awareness of the human referee, and consequently enabling him/her to make proper decisions. A visualization and command interface shall allow interaction between the drone and the human referee. In particular, besides allowing the visualization of the real-time video stream this interface shall allow for more features such as on-demand repetitions of recent plays and enable the human referee to send decisions (kick-off, foul, free throw, etc) which should be signaled to the audience via LEDs placed on the environment and a display connected to a ground station. Moreover, based on computer vision processing, an algorithm which can run on the remote PC showing the video stream to the human referee, shall give a recommendation to the human referee with respect to the following two rules:

• Free throw, when the ball moves out of the bounds of the pitch, crossing one of the four lines delimiting

the field.

• When robot players in the pitch touch each other a potential foul can occur. Therefore, the system

should detect and signal when two robot players in the pitch are touching each other.

If time permits, the remote referee can be given a recommendation by the autonomous system on more rules, such as the distance rules for free kicks mentioned before. The robot soccer field at the mechanical engineering department, building GEM-N, will be used to test the algorithms.