RoboCup2D Soccer Server官方用户手册

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"RoboCup2D是机器人足球模拟竞赛的一个二维仿真平台，其官方说明书详细阐述了SoccerServer的使用，适用于版本7.07及其后续版本。该文档由多个作者共同编写，旨在帮助用户理解服务器参数、命令和其他相关概念。说明书以英文撰写，因此需要一定的英语阅读能力来理解内容。文档的版权归属于RoboCup Federation，并遵循GNU Free Documentation License进行分发和修改。" 在RoboCup 2D中，SoccerServer是一个核心组件，它负责管理比赛的各个方面，包括球队控制、物理模拟、规则执行等。以下是一些关键知识点： 1. **服务器参数**：SoccerServer允许用户调整各种参数来定制比赛环境，如场地大小、球的物理特性、机器人速度等。这些参数的设置可以影响比赛的难度和真实性。 2. **命令接口**：文档详细列出了可用的服务器命令，如启动比赛、暂停、恢复、改变游戏状态等。这些命令通过网络发送，允许远程控制服务器，对比赛进行实时调整。 3. **通信协议**：RoboCup 2D使用特定的通信协议，使得机器人程序（通常用C++编写）能够与服务器交换信息，获取环境感知并做出决策。这包括了消息格式、数据包的发送和接收。 4. **机器人行为**：在2D环境中，每个机器人由一个独立的控制程序驱动，程序需要根据接收到的传感器数据（如视觉、位置信息）来决定行动策略。开发者通常需要对AI算法有深入理解，例如路径规划、目标检测和决策制定。 5. **游戏规则**：说明书会涵盖RoboCup 2D的比赛规则，包括犯规、越位、进球等常见情况的处理。开发者需要确保他们的机器人程序能够遵守这些规则。 6. **团队协作**：在RoboCup 2D中，团队协作至关重要。机器人需要通过有效的通信策略协调行动，形成有效的攻防策略。 7. **模拟环境**：由于是二维模拟，RoboCup 2D简化了真实世界的复杂性，但依然提供了一定程度的物理模拟，如碰撞检测和运动学计算。 8. **编程挑战**：参与RoboCup 2D的开发者需要具备C++编程技能，同时对人工智能和实时系统有深入了解，因为编写机器人控制程序涉及到这两个领域。 9. **版本更新**：文档提到的版本7.07可能已经过时，开发者应关注最新的版本和更新，以获取最新的特性和修正。 10. **开源许可证**：使用RoboCup 2D相关的文档和代码遵循GNU Free Documentation License，这意味着任何人都可以自由地使用、复制和改进这些资源。 RoboCup 2D的官方说明书是开发者进入机器人足球竞赛的重要学习资源，涵盖了从基本概念到高级策略的所有方面。通过深入学习和实践，开发者可以创建出更智能、更具竞争力的机器人球队。

1 Introduction

1. Ogawara (Tokyo University)

2. Sekine (Tokyo Institute of Technology)

3. Inoue (Waseda University)

4. Stone and Veloso (Carnegie Mellon University)

In this tournament, team strategies were generally quite straightforward. Most of the

teams kept players in ﬁxed locations, only moving them towards the ball when it was

nearby.

RoboCup-97

The RoboCup-97 simulator competition was the ﬁrst formal simulated robotic soccer

competition. It was held on August 23–29, 1997 in Nagoya, Japan in conjunction with

the IJCAI-97 conference [6]. With 29 teams entering from all around the world, it was

a very successful tournament.

The winning teams were entered by:

1. Burkhard et al. (Humboldt University)

2. Andou (Tokyo Institute of Technology)

3. Tambe et al. (ISI/University of Southern California)

4. Stone and Veloso (Carnegie Mellon University)

In this competition, the champion team exhibited clearly superior low-level skills. One

of its main advantages in this regard was its ability to kick the ball harder than any other

team. Its players did so by kicking the ball around themselves, continually increasing its

velocity so that it ended up moving towards the goal faster than was imagined possible.

Since the soccerserver did not (at that time) enforce a maximum ball speed, a property

that was changed immediately after the competition, the ball could move arbitrarily fast,

making it almost impossible to stop. With this advantage at the low-level behavior level,

no team, regardless of how strategically sophisticated, was able to defeat the eventual

champion.

At RoboCup-97, the RoboCup scientiﬁc challenge award was introduced. Its purpose

is to recognize scientiﬁc research results regardless of performance in the competitions.

The 1997 award went to Sean Luke [10] of the University of Maryland ”for demonstrating

the utility of evolutionary approach by co-evolving soccer teams in the simulator league.”

RoboCup-98

The second international RoboCup championship, RoboCup-98, was held on July 2–9,

1998 in Paris, France [1]. It was held in conjunction with the ICMAS-98 conference.

The winning teams were entered by:

1.3 History

1. Stone et al. (Carnegie Mellon University)

2. Burkhard et al. (Humboldt University)

3. Corten and Rondema (University of Amsterdam)

4. Tambe et al. (ISI/University of Southern California)

Unlike in the previous year’s competition, there was no team that exhibited a clear

superiority in terms of low-level agent skills. Games among the top three teams were all

quite closely contested with the diﬀerences being most noticeable at the strategic, team

levels.

One interesting result at this competition was that the previous year’s champion team

competed with minimal modiﬁcations and ﬁnished roughly in the middle of the ﬁnal

standings. Thus, there was evidence that as a whole, the ﬁeld of entries was much

stronger than during the previous year: roughly half the teams could beat the previous

champion.

The 1998 scientiﬁc challenge award was shared by Electro Technical Laboratory

(ETL), Sony Computer Science Laboratories, Inc., and German Research Center for

Artiﬁcial Intelligence GmbH (DFKI) for ”development of fully automatic commentator

systems for RoboCup simulator league.”

To encourage the transfer of results from RoboCup to the scientiﬁc community at

large, RoboCup-98 was the ﬁrst to host the Multi-Agent Scientiﬁc Evaluation Session.

13 diﬀerent teams participated in the session, in which their adaptability to loss of team-

members was evaluated comparatively. Each team was played against the same ﬁxed

opponent (the 1997 winner, AT Humboldt’97) four half-games under oﬃcial RoboCup

rules. The ﬁrst half-game (phase A) served as a base-line. In the other three half-

games (phases B-D), 3 players were disabled incrementally: A randomly chosen player,

a player chosen by the representative of the ﬁxed opponent to maximize ”damage” to

the evaluated team, and the goalie. The idea is that a more adaptive team would be

able to respond better to these.

Very early on, even during the session itself, it became clear that while in fact most

participants agreed intuitively with the evaluation protocol, it wasn’t clear how to quan-

titatively, or even qualitatively, analyse the data. The most obvious measure of the

goal-diﬀerence at the end of each half may not be suﬃcient: some teams seem to do bet-

ter with less players, some do worse. Performance, as measured by the goal-diﬀerence,

really varied not only from team to team, but also for the same team between phases.

The evaluation methodology itself and analysis of the results became open research prob-

lems in themselves. To facilitate this line of research, the data from the evaluation was

made public at: http://www.isi.edu/~galk/Eval/

RoboCup-99

The third international RoboCup championship, RoboCup-99, was held in late July

and early August, 1999 in Stockholm, Sweden [3]. It was held in conjunction with the

IJCAI-99 conference.

1 Introduction

RoboCup 2000

The fourth international RoboCup championship, RoboCup 2000, was held in early

September, 2000 in Melbourne, Australia [16]. It was held in conjunction with the

PRICAI-2000 conference.

1.3.3 History of the Soccer Manual Eﬀort

The ﬁrst versions of the manual were written by Itsuki Noda, while developing the

soccerserver, and around version 3.00 there were several requests on an updated manual,

to better correspond to the server as well as enable newcomers to more easily participate

in the RoboCup World Cup Initiative. In the fall of 1998 Peter Stone initiated the Soccer

Manual Eﬀort, over which Johan Kummeneje took responsibility to organize and as a

result the Soccer Server Manual version 4.0 was released on the 1st of November 1998.

In 1999, the manual for the soccerserver version 5.0 was released. Unfortunately the

manual lost part of its pace, and there was no release of the manual for soccerserver

version 6.0.

Since 1999, the soccerserver has changed major version to 7 and is continuously de-

veloped. Therefore the Soccer Manual Eﬀort has developed a new version, which you

are currently reading.

1.4 About This Manual

This manual is the joint eﬀort of the authors from a diverse range of universities and

organizations, which build upon the original work of Itsuki Noda.

If there are errors, inconsistencies, or oddities, please notify johank@dsv.su.se

fruit@uni-koblenz.de with the location of the error and a suggestion of how it should be

corrected.

We are always looking for anyone who has an idea on how to improve the manual,

as well as proofread or (re)write a section of the manual. If you have any ideas, or feel

that you can contribute with anything to the SoccerServer Manual Eﬀort please mail

johank@dsv.su.se or fruit@uni-koblenz.de.

The latest manual can be downloaded at http://www.dsv.su.se/~johank/RoboCup/

manual.

1.5 Reader’s Guide to the Manual

The thesis is written for a wide range of readers, and therefore the chapters are not

equally important to all readers. We shortly describe the remaining chapters to give an

overview of the thesis.

Chapter 2 introduces the concepts of the simulated league and will help the newcomer

to get to terms with the diﬀerent parts.

Chapter 3 helps the beginners to start compiling and running the software.

Chapter 4 describes the soccerserver.

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