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Technology offers new ways to measure the locations of the players and of the ball in sports. This translates to the trajectories the ball takes on the field as a result of the tactics the team applies. The challenge professionals in soccer…
Markov Random Field models are powerful tools for the study of complex systems. However, little is known about how the interactions between the elements of such systems are encoded, especially from an information-theoretic perspective. In…
The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to…
Soccer is a sparse rewarding game: any smart or careless action in critical situations can change the result of the match. Therefore players, coaches, and scouts are all curious about the best action to be performed in critical situations,…
In this paper, we review Fisher information matrices properties in weighted version and discuss inequalities/bounds on it by using reduced weight functions. In particular, an extended form of the Fisher information inequality previously…
This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
We deal with the maximization of classical Fisher information in a quantum system depending on an unknown parameter. This problem has been raised by physicists, who defined [Helstrom (1967) Phys. Lett. A 25 101-102] a quantum counterpart of…
The Fisher Information matrix is a widely used measure for applications ranging from statistical inference, information geometry, experiment design, to the study of criticality in biological systems. Yet there is no commonly accepted…
This paper considers the problem of parameter identification for a multirobot system. We wish to understand when is it feasible for an adversarial observer to reverse-engineer the parameters of tasks being performed by a team of robots by…
We summarise the results of RoboCup 2D Soccer Simulation League in 2016 (Leipzig), including the main competition and the evaluation round. The evaluation round held in Leipzig confirmed the strength of RoboCup-2015 champion (WrightEagle,…
Action spotting in soccer videos is the task of identifying the specific time when a certain key action of the game occurs. Lately, it has received a large amount of attention and powerful methods have been introduced. Action spotting…
This work proposes a scheme that allows learning complex multi-agent behaviors in a sample efficient manner, applied to 2v2 soccer. The problem is formulated as a Markov game, and solved using deep reinforcement learning. We propose a basic…
Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or…
This paper considers the problem of state tracking with observation control for a particular class of dynamical systems. The system state evolution is described by a discrete-time, finite-state Markov chain, while the measurement process is…
We present a framework that gives a deep insight into the link between physical and technical-tactical aspects of soccer and it allows associating physical performance with value generation thanks to a top-down approach. First, we estimate…
The eigenvalues and eigenvectors of the Fisher information matrix (FIM) can reveal the most and least sensitive directions of a system and it has wide application across science and engineering. We present a symplectic variant of the…
In this technical report, we describe the use of a machine learning approach for detecting the realistic black and white ball currently in use in the RoboCup Standard Platform League. Our aim is to provide a ready-to-use software module…
In the current level of evolution of Soccer 3D, motion control is a key factor in team's performance. Recent works takes advantages of model-free approaches based on Machine Learning to exploit robot dynamics in order to obtain faster…