RoboCup 2017: Robot World Cup XXI : RoboCup 2017 was held at the Nagoya International Exhibition Hall in Nagoya, Japan : from July 27 to July 31

This book includes the post-conference proceedings of the 21st RoboCup International Symposium, held in Nagoya, Japan, in September 2017. The 33 full revised papers and 9 papers from the winning teams presented were carefully reviewed and selected from 58 submissions. The papers are orginazed on topical sections on Robotics, Artificial intelligence, Environment perception, State estimation and much more. Front Matter ....Pages I-XII Front Matter ....Pages 1-1 Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles (Nicolai Ommer, Alexander Stumpf, Oskar von Stryk)....Pages 3-16 Front Matter ....Pages 17-17 Using Convolutional Neural Networks in Robots with Limited Computational Resources: Detecting NAO Robots While Playing Soccer (Nicolás Cruz, Kenzo Lobos-Tsunekawa, Javier Ruiz-del-Solar)....Pages 19-30 Front Matter ....Pages 31-31 Large-Scale Stochastic Scene Generation and Semantic Annotation for Deep Convolutional Neural Network Training in the RoboCup SPL (Timm Hess, Martin Mundt, Tobias Weis, Visvanathan Ramesh)....Pages 33-44 Fast and Precise Black and White Ball Detection for RoboCup Soccer (Jacob Menashe, Josh Kelle, Katie Genter, Josiah Hanna, Elad Liebman, Sanmit Narvekar et al.)....Pages 45-58 Fear Learning for Flexible Decision Making in RoboCup: A Discussion (Caroline Rizzi, Colin G. Johnson, Patricia A. Vargas)....Pages 59-70 Proposed Environment to Support Development and Experiment in RoboCupRescue Simulation (Shunki Takami, Kazuo Takayanagi, Shivashish Jaishy, Nobuhiro Ito, Kazunori Iwata, Yohsuke Murase et al.)....Pages 71-83 Competition Design to Evaluate Cognitive Functions in Human-Robot Interaction Based on Immersive VR (Tetsunari Inamura, Yoshiaki Mizuchi)....Pages 84-94 Toward Real-Time Decentralized Reinforcement Learning Using Finite Support Basis Functions (Kenzo Lobos-Tsunekawa, David L. Leottau, Javier Ruiz-del-Solar)....Pages 95-107 A Machine Learning System for Controlling a Rescue Robot (Timothy Wiley, Ivan Bratko, Claude Sammut)....Pages 108-119 Analysing Soccer Games with Clustering and Conceptors (Olivia Michael, Oliver Obst, Falk Schmidsberger, Frieder Stolzenburg)....Pages 120-131 Front Matter ....Pages 133-133 CABSL – C-Based Agent Behavior Specification Language (Thomas Röfer)....Pages 135-142 Secured Offline Authentication on Industrial Mobile Robots Using Biometric Data (Sarah Haas, Thomas Ulz, Christian Steger)....Pages 143-155 Follow Me: Real-Time in the Wild Person Tracking Application for Autonomous Robotics (Thomas Weber, Sergey Triputen, Michael Danner, Sascha Braun, Kristiaan Schreve, Matthias Rätsch)....Pages 156-167 Learning to Use Toes in a Humanoid Robot (Klaus Dorer)....Pages 168-179 Cloud Simulations for RoboCup (Enric Cervera, Gustavo Casañ, Ricardo Tellez)....Pages 180-189 Concurrent Hierarchical Reinforcement Learning for RoboCup Keepaway (Aijun Bai, Stuart Russell, Xiaoping Chen)....Pages 190-203 Vision-Based Orientation Detection of Humanoid Soccer Robots (Andre Mühlenbrock, Tim Laue)....Pages 204-215 Situation-Dependent Utility in Extended Behavior Networks (Matthias Hofmann, Thorben Seeland)....Pages 216-227 A Robust Algorithm: Find an Unknown Person via Referring Grounding (Xiping Wang, Feng Wu, Dongcai Lu, Xiaoping Chen)....Pages 228-240 Online Opponent Formation Identification Based on Position Information (Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama)....Pages 241-251 Motion Detection in the Presence of Egomotion Using the Fourier-Mellin Transform (Santosh Thoduka, Frederik Hegger, Gerhard K. Kraetzschmar, Paul G. Plöger)....Pages 252-264 A Review on Locomotion Systems for RoboCup Rescue League Robots (João Oliveira, Leonardo Farçoni, Adam Pinto, Rafael Lang, Ivan Silva, Roseli Romero)....Pages 265-276 Skills, Tactics and Plays for Distributed Multi-robot Control in Adversarial Environments (Lotte de Koning, Juan Pablo Mendoza, Manuela Veloso, René van de Molengraft)....Pages 277-289 Modelling a Solenoid’s Valve Movement (Arthur Demarchi, Leonardo Farçoni, Adam Pinto, Rafael Lang, Roseli Romero, Ivan Silva)....Pages 290-301 The NAO Backpack: An Open-Hardware Add-on for Fast Software Development with the NAO Robot (Matías Mattamala, Gonzalo Olave, Clayder González, Nicolás Hasbún, Javier Ruiz-del-Solar)....Pages 302-311 Model-Based Fall Detection and Fall Prevention for Humanoid Robots (Thomas Muender, Thomas Röfer)....Pages 312-324 RoboCup 2D Soccer Simulation League: Evaluation Challenges (Mikhail Prokopenko, Peter Wang, Sebastian Marian, Aijun Bai, Xiao Li, Xiaoping Chen)....Pages 325-337 Humanoid Robot Detection Using Deep Learning: A Speed-Accuracy Tradeoff (Mohammad Javadi, Sina Mokhtarzadeh Azar, Sajjad Azami, Saeed Shiry Ghidary, Soroush Sadeghnejad, Jacky Baltes)....Pages 338-349 Recognition of Grasp Points for Clothes Manipulation Under Unconstrained Conditions (Luz María Martínez, Javier Ruiz-del-Solar)....Pages 350-362 Interactive Machine Learning Applied to Dribble a Ball in Soccer with Biped Robots (Carlos Celemin, Rodrigo Perez, Javier Ruiz-del-Solar, Manuela Veloso)....Pages 363-375 Collision-Detection for RoboCup@Work-Competitions (Sebastian Zug, Martin Seidel, Jonathan Beckhaus, Nico Winkelsträter)....Pages 376-384 An Omni-Directional Kick Engine for Humanoid Robots with Parameter Optimization (Pedro Pena, Joseph Masterjohn, Ubbo Visser)....Pages 385-397 A Benchmark Data Set and Evaluation of Deep Learning Architectures for Ball Detection in the RoboCup SPL (Simon O’Keeffe, Rudi Villing)....Pages 398-409 Front Matter ....Pages 411-411 SRC: RoboCup 2017 Small Size League Champion (Ren Wei, Wenhui Ma, Zongjie Yu, Wei Huang, Shenghao Shan)....Pages 413-422 Rhoban Football Club: RoboCup Humanoid Kid-Size 2017 Champion Team Paper (Julien Allali, Rémi Fabre, Loic Gondry, Ludovic Hofer, Olivier Ly, Steve N’Guyen et al.)....Pages 423-434 Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo (Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Dmytro Pavlichenko, Grzegorz Ficht, André Brandenburger et al.)....Pages 435-447 Grown-Up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions (Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger et al.)....Pages 448-460 B-Human 2017 – Team Tactics and Robot Skills in the Standard Platform League (Thomas Röfer, Tim Laue, Arne Hasselbring, Jesse Richter-Klug, Enno Röhrig)....Pages 461-472 UT Austin Villa: RoboCup 2017 3D Simulation League Competition and Technical Challenges Champions (Patrick MacAlpine, Peter Stone)....Pages 473-485 Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017 (Till Hofmann, Victor Mataré, Tobias Neumann, Sebastian Schönitz, Christoph Henke, Nicolas Limpert et al.)....Pages 486-497 RoboCup@Work Winners 2017 Team AutonOHM (Jon Martin, Helmut Engelhardt, Tobias Fink, Marco Masannek, Tobias Scholz)....Pages 498-508 homer@UniKoblenz: Winning Team of the RoboCup@Home Open Platform League 2017 (Raphael Memmesheimer, Vikor Seib, Dietrich Paulus)....Pages 509-520 Back Matter ....Pages 521-522