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Winning the RoboCup Logistics League with Visual Servoing and Centralized Goal Reasoning

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RoboCup 2022: Robot World Cup XXV (RoboCup 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13561))

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Abstract

The RoboCup Logistics League (RCLL) is a robotics competition in a production logistics scenario in the context of a Smart Factory. In the competition, a team of three robots needs to assemble products to fulfill various orders that are requested online during the game. This year, the Carologistics team was able to win the competition with a new approach to multi-agent coordination as well as significant changes to the robot’s perception unit and a pragmatic network setup using the cellular network instead of WiFi. In this paper, we describe the major components of our approach with a focus on the changes compared to the last physical competition in 2019.

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Notes

  1. 1.

    See Sect. 7 of https://github.com/robocup-logistics/rcll-rulebook/releases/download/2022/rulebook2022.pdf.

  2. 2.

    https://tailscale.com/.

  3. 3.

    https://copr.fedorainfracloud.org/coprs/thofmann/ros/.

  4. 4.

    https://www.dds-foundation.org/.

  5. 5.

    https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html.

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Acknowledgements

The team members in 2022 were Tom Hagdorn, Mike Henning, Nicolas Limpert, Hendrik Nessau, Simon Roder, Matteo Tschesche, Daniel Swoboda and Tarik Viehmann.

We gratefully acknowledge the financial support of RWTH Aachen University and FH Aachen University of Applied Sciences.

This work is partially supported by the German Research Foundation (DFG) under grants GL-747/23-1, 2236/1 and under Germany’s Excellence Strategy – EXC-2023 Internet of Production – 390621612. This work is partially supported by the EU ICT-48 2020 project TAILOR (No. 952215).

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Authors and Affiliations

  1. Knowledge-Based Systems Group, RWTH Aachen University, Aachen, Germany

    Tarik Viehmann, Till Hofmann & Gerhard Lakemeyer

  2. MASCOR Institute, FH Aachen University of Applied Sciences, Aachen, Germany

    Nicolas Limpert, Mike Henning & Alexander Ferrein

Authors
  1. Tarik Viehmann
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  2. Nicolas Limpert
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  3. Till Hofmann
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  4. Mike Henning
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  5. Alexander Ferrein
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  6. Gerhard Lakemeyer
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Corresponding author

Correspondence to Tarik Viehmann .

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Editors and Affiliations

  1. University of San Diego, La Jolla, CA, USA

    Amy Eguchi

  2. University of Aveiro, Aveiro, Portugal

    Nuno Lau

  3. Walt Disney (Switzerland), Zurich, Switzerland

    Maike Paetzel-Prüsmann

  4. Mahidol University, Bangkok, Thailand

    Thanapat Wanichanon

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Viehmann, T., Limpert, N., Hofmann, T., Henning, M., Ferrein, A., Lakemeyer, G. (2023). Winning the RoboCup Logistics League with Visual Servoing and Centralized Goal Reasoning. In: Eguchi, A., Lau, N., Paetzel-Prüsmann, M., Wanichanon, T. (eds) RoboCup 2022: Robot World Cup XXV. RoboCup 2022. Lecture Notes in Computer Science(), vol 13561. Springer, Cham. https://doi.org/10.1007/978-3-031-28469-4_25

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  • DOI: https://doi.org/10.1007/978-3-031-28469-4_25

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