July 2023 - RoboCup-small - lists.robocup.org

RoboCup Brazil Open 2023
by Patricia Vergara 27 Jul '23

27 Jul '23

Good morning! Registrations are now open for RoboCup Brazil Open 2023! The event will occur from October 7th to 12th at the* Salvador Convention Center in Salvador, Bahia*. Registrations can be made through the website: http://olimpo.robocup.org.br/. RoboCup Brazil Open is a large event that also includes the Brazilian Robotics Competition, the Brazilian Robotics Olympiad, and the Brazilian Robotics Exhibition. In addition, the following meetings will be held during the event: XV Brazilian Robotics Symposium XIV Workshop on Educational Robotics Thesis and Dissertation Workshop in Robotics Thesis and Dissertation Contest in Robotics IEEE Latin American Robotics Symposium All rules and challenges for each category are available on our website, as well as the updated registration fees and deadlines for TDP submission. >> Some categories will be in a hybrid format, allowing teams to participate remotely when necessary. >> All information is available on our website: www.cbrobotica.org and www.robotica.org.br ________________________________ Best regards, Robocup Brazil Team -- Patrícia Vergara Comunicação RoboCup Brasil (11) 9.8686-4993 (apenas whatsapp) www.robocup.org.br

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RoboCup 2023 Results
by Selina Zwerver 20 Jul '23

20 Jul '23

Hi everyone, We want to thank you all for participating in this year’s RoboCup! It was amazing to see you all again, and I hope you enjoyed the event as much as we did. With this email we would like to congratulate you all with your results. We know that it hasn’t been easy to work on your robots in the past years, but all of you made it to Bordeaux and were able to play some matches! Below are the results. Please let us know if we have made a mistake somewhere! Division A - Tournament Rank Team 1 TIGERs Mannheim 2 ZJUNlict 3 Immortals 4 KIKS 5 ER-Force 5 RoboDragons 7 RoboTeam Twente Division B - Tournament Rank Team 1 RobôCIn 2 luhbots Soccer 3 Ri-one 4 UBC Thunderbots 5 ITAndroids 5 RoboJackets 5 RoboFEI 5 RoboIME 9 The-A-Team 9 NAMeC 9 OrcaBOT 9 Sysmic Robotics Awards Excellence award TIGERs Mannheim Best (E)TDP TIGERs Mannheim Open source award RoboTeam Twente Chip Pass Technical Challenge First Place TIGERs Mannheim Ball Placement Technical Challenge First Place RobôCIn League photo We would like to remind everyone that the league photo can be found here <https://drive.google.com/drive/u/0/folders/1-VW7KR5tBn-sR5t2CdVwUTIj3VUmU4rw> ! RoboCup 2024 For those of you who did not receive the news during the RoboCup, RoboCup 2024 will take place from July 17-21 in Eindhoven, the Netherlands. We will update you as soon as we have more information about, for example, the set-up dates. We hope to see you all there! Kind regards, Selina Zwerver RoboCup Small Size League | Organizing Committee

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RoboCup 2023 – Open Source Award Submission RobôCIn
by José Victor Silva Cruz 05 Jul '23

05 Jul '23

Hi, everyone! We are proud to announce a series of repositories that we plan to submit at this year's open-source. Hopefully they will help grow our category here at RoboCup. RobôCIn's Plans for Future Software Development *rSoccer*: https://github.com/robocin/rSoccer - Is an open-source framework to study Reinforcement Learning for SSL; - Related Documents: - Exploring Reinforcement Learning in Path Planning for Omnidirectional Robot Soccer - https://www.cin.ufpe.br/~tg/2022-2/tg_EC/TG_jvsc.pdf - DyLam: A dynamic reward weighting method for reinforcement learning policy gradient algorithms: - https://repositorio.ufpe.br/handle/123456789/46630 - Evaluation of time limits in reinforcement learning applied to robot soccer simulation - https://www.cin.ufpe.br/~tg/2020-2/TG_EC/tg_jnds.pdf *project-unification*: https://github.com/robocin/project-unification This project aims to demonstrate the use of the soccer-common framework ( https://github.com/robocin/soccer-common), developed by RobôCIn and used in the RoboCup SSL and IEEE VSS categories. Also, the repository serves as a starting point to the team’s new developers and teams that want to start strategies on SSL. Usage examples: - MatheusPaixaoG: https://github.com/MatheusPaixaoG/project-unification - matheuslafayette: https://github.com/matheuslafayette/projeto-seletivo-robocin - agaf2: https://github.com/agaf2/project-unification - acrucha: https://github.com/acrucha/project-unification - caiomvfc: https://github.com/caiovmfc/Seletiva-RoboCin-VSS-cvmfc *robocin-cpp:* https://github.com/robocin/robocin-cpp - It is a library heavily inspired by abseil owned by Google, and seeks to extract what worked well from soccer-common, implementing software engineering best practices and modern C++ with a README-by-folder based documentation. It provides the core library for our next team's robotics applications. - Floating-point comparison; - Angular/geometric operations; - In the long term it will be like libsrc in 2D for our team. *protocols:* https://github.com/robocin/protocols The protobufs used by the competition are widely dispersed in the repositories that require them, making it necessary to copy and paste the files that are currently being used in the category. Thus, the protocols used are highly duplicated in the RoboCup SSL softwares, but also in the team’s strategy softwares. In this context, we propose a single repository containing the protocols used by as well as installation guidelines for various programming languages, such as Java, C++, Python, etc. *robocin-ines:* https://github.com/joseviccruz/robocin-ines, https://github.com/uandersonricardo/robocin-ines-server, https://github.com/uandersonricardo/robocin-ines-webui robocin-ines provides a base framework for architecting robotic applications. This set of repositories comes as an optimization of our current software (ssl-unification), providing a microservices-based framework which: 1. Enables the use of different programming languages; 2. Uses the ZeroMQ framework to communicate services with latency below 1ms; 3. Defines a visualization on the Web, providing better development simplicity; However, this final structure is not yet finalized and, as a way to validate the technologies, scope, and robustness of the system, the SSL VAR was developed as an MVP of this repository. SSL VAR is a match recording system, which allows the viewing of the match in real time, as well as the analysis of past plays through replay at a given timestamp or according to a given event in the match, such as a foul, penalty, or goal. In this way, it allows the human referee to analyze a past play and check whether his decision and also the decisions of the automatic referees were correct or not. The ultimate goal of this repository is to provide a base structure for organizing new SSL teams using microservices, and to extend the life and maintenance of our current software. Best regards, RobôCIn.

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RoboCup 2023 - Open Source Award Submission RoboFEI
by João Victor Aguiar 05 Jul '23

05 Jul '23

Dear SSL community, RoboFEI would like to submit our hardware and software works for the open-source award. We are happy to say that we have released all the mechanics, electronics, AI, and firmware for this year. Regarding mechanics, the new robot's generation is fully released on our GitLab (https://gitlab.com/robofei/ssl/ssl-mechanics). The project aims for modularization that will help robot maintenance and assembly. In electronics, both the main and kick boards have been changed aiming for modularization, besides the fact that the team replaced the FPGA with an STM microcontroller to modernize our robot, and you can see everything here in the link (https://gitlab.com/robofei/ssl/Electronics_v2). Besides that, our new firmware is released on our GitLab too ( https://gitlab.com/robofei/ssl/Electronics_v2). About the software, our ongoing research of multi-robot path-planning is fully released on our GitLab (https://gitlab.com/leo_costa/RobotNavigation). Best regards, João Victor RoboFEI

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RoboCup 2023 - Open Source Award Submission ER-Force
by Mike Schmidt 05 Jul '23

05 Jul '23

Dear Small Size League. ER-Force would like to submit their current hardware and software framework as well as its autoref for the open source award. [1, 2, 3] A short summary: The hardware project reflects the current state of the ER-Force robots, i.e. the new robot generation used by our team during this RoboCup. The hardware is designed in EAGLE (electronics) and Inventor (mechanics). The electronics section contains prebuilt manufacturer files (Gerber) as well as schematics as PDF, the mechanics part is depicted in assembly drawings. The software framework reflects the open-source simulator as well as some low level algorithms such as our path planning. The software framework is written in C++ and Qt. Finally, our open-source projects include our well-known autoref, which is used by the league for many years. Best regards, Mike ER-Force [1] https://github.com/robotics-erlangen/hardware [2] https://github.com/robotics-erlangen/framework [3] https://github.com/robotics-erlangen/autoref

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RoboCup 2023 – Open Source Award Submission TIGERs Mannheim
by Andre R. 05 Jul '23

05 Jul '23

Dear SSL-Community, as in the past years we are very happy to announce our entry for the Open Source Award. The usual one-stop shop to get it all was updated: https://github.com/TIGERs-Mannheim We are doing a complete and full release of everything we have, including electronics, mechanics, firmware, our full AI, and some awesome new tools. Here is a brief description of what has changed. Mechanics: The dribbler dampening and dribbling bar have changed again to improve traction on the ball. These are mostly material changes. The axes of the sub-wheels changed to be more robust. The release includes the full robot mechanics. Inventor CAD files, but also a STEP file of the full robot. Firmware: Dribbler current control has been improved near zero velocity. Interface to the robot's raspberry pi has been improved with new messages and feedback of detected balls. The release also includes our wireless protocol and base station firmware. Software (AI): The heart and brain of our team, the central control software "Sumatra". Of course, compatible with the simulation protocol. So you can test your AI against ours locally. Pass finding has been largely improved and now contains a dynamic learning component. Also watch out for some more serious dribbling moves which will make you sweat 😉 RobotPi: The software for ball detection running on a Raspberry Pi 3A+ on each of our robots. Most of the color blob detection and thresholding has been rewritten and is parallelized via multi-threading. The RPi uses only around 50% of its CPU now. TIGERs CLAV (Cut Lengthy Audio/Video): This is an C++ ImGui based application able to cut video files based on an SSL gamelog. You can synchronize multiple videos and gamelogs with individual markers and the tool can then cut out non-running stages. This tool is still quite new and may not support every video format, but nonetheless it is already a great help to preprocess videos from matches. Oh and it can create a status overlay video for your videos, too (similar to the status board). In case you are missing any information or if you are just curios, contact us on Discord or write us an email. Tigertastic Greetings, TIGERs Mannheim

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RoboCup 2023 - Open Source Award Submission RoboTeam Twente
by Emy Ganzeboom | RoboTeam Twente 04 Jul '23

04 Jul '23

Dear SSL community, Hereby, RoboTeam Twente would like to submit our projects for the Open Source Award. RoboTeam Twente Wiki <https://wiki.roboteamtwente.nl/> RoboTeam Twente AI Software <https://github.com/RoboTeamTwente/roboteam> RoboTeam Twente Embedded <https://github.com/RoboTeamTwente/roboteam_microcontroller5.0> RoboTeam Twente AutoRef <https://github.com/RoboTeamTwente/roboteam_autoref> High Speed USB Library for STM32 <https://github.com/RoboTeamTwente/Basestation/tree/feature/custom_usb_class> Chat-TDP <https://github.com/emielsteerneman/TDP> Our Wiki provides all the mechanical and electrical designs of our robots. Furthermore, it contains the theoretical background and additional explanations about our AI and control software. On our Github you can find our new path planning within our AI code, as well as our innovative dribbler ball-sensor code (see this year's ETDP <https://ssl.robocup.org/wp-content/uploads/2023/02/2023_ETDP_RoboTeam_Twent…> ). This year we created an AutoRef, allowing for a majority vote between all AutoRefs. This software is under active development, but our AutoRef will most likely be used during RoboCup 2023. Next to that, we developed a high speed USB library compatible with our STM32 chip. This results in an enhanced stability when connecting USB devices to the STM32F676ZI. With minor modifications, this is also suitable for other STM chips. Lastly, our latest innovation is our very own Chat-GPT, containing all information on all the (E)TDPs within the SSL. Just ask your question, and the answer will be provided. This Chat-TDP is currently still under construction, but great progress has already been made and we feel like this could be beneficial for all teams within SSL. Thank you! -- Met vriendelijke groeten / Kind regards, *Emy Ganzeboom* Team Manager | Control Engineer Phone: LinkedIn: Website: +31 (0)6 21 37 45 87 Emy Ganzeboom <https://nl.linkedin.com/in/emy-ganzeboom-8a9b47193> www.roboteamtwente.nl Do you want to support our team? Please take a look at our crowdfunding page <https://www.steunutwente.nl/project/roboteam-twente-2023>!

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RoboCup 2023 - Open Source Award Submission luhbots Soccer
by Sebastian Knackstedt 04 Jul '23

04 Jul '23

Hello SmallSizeLeague, luhbots Soccer would like to submit our current hardware and software work for the Open Source Award. Links: Hardware: CAD Files for our Robot <https://github.com/luhsoccer/luhsoccer_hardware> Electronics: Schematics for all our PCBs from the robot and our basestation. <https://github.com/luhsoccer/luhsoccer_electronics> Firmware: The code for the eletronics. Include the fireware for the mulitple MCUs on the robots and the basestation. <https://github.com/luhsoccer/luhsoccer_firmware> Software: The framework to control the robots. <https://github.com/luhsoccer/luhsoccer_baguette> A short summary of the projects: The CAD files are designed via Autodesk Inventor and can be opened accordingly. The Schematics and PCB Files are designed via KiCAD 7.0. The Firmware is completely written in Rust and designed for the RP2040 (the robots) and the ATSAM4E (the basestation). The software is written in C++ and contains various python bindings which can be used to develop a high level strategy around the software. Documentation is contained via Doxygen and can be built seperatly. Greetings, Sebastian Knackstedt, luhbots Soccer -- SebastianKnackstedt Leitung Software Soccer | luhbots sebastian.knackstedt(a)luhbots.de <mailto:sebastian.knackstedt@luhbots.de> luhbots-hannover.de <//luhbots-hannover.de> Appelstrasse 11, 30167 Hannover

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Final preparations for RoboCup
by Carla Cosenza 03 Jul '23

03 Jul '23

Hello! As RoboCup approaches, we need some more information from all teams to prepare the venue. As some are aware, some parts of Bordeaux are having a curfew enforced due to the protests that are happening. We would like for teams to inform us where they are staying so that we can modify the schedule if the curfew persists during the competition. So please have one member of your team send your hotel location to Selina (selinazwerver(a)gmail.com), through discord or email. We would like to also inform everyone that if the curfew persists, we will have modifications in the schedule so please check it regularly. We also need to know how many people are coming per team, in order to organize the tables. So please send the amount of people coming to the competition from your team to Selina TODAY (selinazwerver(a)gmail.com), through discord or email. Finally, we would like to remind everyone that tomorrow is the first set up day. We cannot guarantee that the cameras will be working first thing tomorrow, but we are working on getting them up and running as soon as possible. The venue should be open at 8am and it would be ideal to have teams here for easier communication. Thank you very much and we will see you all soon! Carla Cosenza RoboCup Small Size League | Organizing Committee

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RoboCup 2023 – Open Source Award Submission RoboJackets
by Alex Sohrab 03 Jul '23

03 Jul '23

Hello SSL community, RoboJackets would like to submit our open source work for this SSL award. Printed Circuit Boards <https://github.com/RoboJackets/robocup-pcb> RRT Path Planning <https://github.com/RoboJackets/rrt> GUI, High Level Planning, and Strategy Software <https://github.com/RoboJackets/robocup-software> FreeRTOS firmware <https://github.com/RoboJackets/robocup-firmware> All information regarding documentation can be found within the repositories. RoboJackets has made all parts of our development open source (RobotCAD is currently unavailable due to GrabCAD being down, and we are searching for alternatives). Some of the main innovations involve practical applications of ROS2 for software and FreeRTOS for on-board robot control. Another goal of ours this year was increased documentation: for example software documentation can be found at this website <https://rj-rc-software.readthedocs.io/en/latest/>. Thank you, RoboJackets, Georgia Tech Kasra Alexander Sohrab

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