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In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in RoboCup 2024. Our team was undefeated for all seated matches…
In this paper new hierarchical hybrid fuzzy-crisp methods for decision making and action selection of an agent in soccer simulation 3D environment are presented. First, the skills of an agent are introduced, implemented and classified in…
Forecasting sporting events encapsulate a compelling intellectual endeavor, underscored by the substantial financial activity of an estimated $80 billion wagered in global sports betting during 2022, a trend that grows yearly. Motivated by…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Tracking objects in soccer videos is extremely important to gather both player and team statistics, whether it is to estimate the total distance run, the ball possession or the team formation. Video processing can help automating the…
Football forecasting models traditionally rate teams on past match results, that is based on the number of goals scored. Goals, however, involve a high element of chance and thus past results often do not reflect the performances of the…
The analysis of high-intensity runs (or sprints) in soccer has long been a topic of interest for sports science researchers and practitioners. In particular, recent studies suggested contextualizing sprints based on their tactical purposes…
We modeled the dynamics of a soccer match based on a network representation where players are nodes discretely clustered into homogeneous groups. Players were grouped by physical proximity, supported by the intuitive notion that competing…
Soccer Simulation 2D League is one of the major leagues of RoboCup competitions. In a Soccer Simulation 2D (SS2D) game, two teams of 11 players and one coach compete against each other. The players are only allowed to communicate with the…
In-game win probability models, which provide a sports team's likelihood of winning at each point in a game based on historical observations, are becoming increasingly popular. In baseball, basketball and American football, they have become…
In this paper, we present a novel approach for optimising long-term tactical and strategic decision-making in football (soccer) by encapsulating events in a league environment across a given time frame. We model the teams' objectives for a…
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body balance control. Existing approaches suffer from inter-module…
Soccer ball detection is identified as one of the critical challenges in the RoboCup competition. It requires an efficient vision system capable of handling the task of detection with high precision and recall and providing robust and low…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
Collecting and maintaining accurate world knowledge in a dynamic, complex, adversarial, and stochastic environment such as the RoboCup 3D Soccer Simulation is a challenging task. Knowledge should be learned in real-time with time…
In soccer, game context can result in skewing offensive statistics in ways that might misrepresent how well a team has played. For instance, in England's 1-2 loss to France in the 2022 FIFA World Cup quarterfinal, England attempted…
Measuring soccer shooting skill is a challenging analytics problem due to the scarcity and highly contextual nature of scoring events. The introduction of more advanced data surrounding soccer shots has given rise to model-based metrics…
In this report, we briefly present the technical procedure and simulation steps for the 2D soccer simulation of team Cyrus. We emphasize on this document on how the prediction of teammates' behavior is performed. In our proposed method, the…
The selection of an appropriate competition format is critical for both the success and credibility of any competition, both real and simulated. In this paper, the automated parallelism offered by the RoboCupSoccer 2D simulation league is…
Machine learning models have become increasingly popular for predicting the results of soccer matches, however, the lack of publicly-available benchmark datasets has made model evaluation challenging. The 2023 Soccer Prediction Challenge…