ACT-Croatia Robot Soccer Team

ACT-Croatia Robot Soccer Team - Welcome

Welcome to the website of the ACT-Croatia. We are the first and currently the only one robotsoccer team in Croatia. We are part of the ACT Team at the Department of Control and Computer Engineering at the Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia.

News:

Misel Brezak defended his PhD thesis

Saturday, 27 March 2010 09:13 administrator

Misel Brezak defended his PhD thesis on the localization, motion planning and control of mobile robots in intelligent spaces. The thesis investigates application of mobile robots in environments provided with ambient intelligence to form the so-called Intelligent Spaces (iSpaces). The purpose of the iSpace is providing various services to its users, where mobile robots provide numerous possibilities, such as load delivery, visitor guidance etc. Thus the focus of the thesis is set to developing the capability of the space to fully utilize mobile robots. In this way a method for fast and precise mobile robot localization using distributed cameras is developed. The developed algorithm enables high framerates and at the same time high measurement precision and accuracy as it works in subpixel precision. The algorithm was tested in multiple experiments and performed with very good results. Second, a fast and flexible robot mobile robot motion planning method appropriate for application in iSpaces is developed. The developed motion planner is decoupled and consists of four stages: path planning, path smoothing, trajectory planning and trajectory tracking. The method can replan the path in real time, which enables planning in dynamic environments.

All algorithms are very flexible and allow use in various scenarios, and one of the intended applications is also robot soccer. While global vision based localization is already used in our robot soccer application, use of developed motion planner is planned in the future after some multi-robot issues are solved. The motion planner should be capable e.g. to kick the ball at the right moment and with prefered orientation and velocity of the robot, thus enabling very precise ball handling.

The dissertation defense committee:
1. Professor Sven Loncaric (Head)
2. Professor Ivan Petrovic (Supervisor)
3. Professor Josko Deur
4. Professor Nedjeljko Peric
5. Professor Vesna Zupanovic

Last Updated on Thursday, 08 April 2010 09:40

Juraj Gospodarić graduated

Friday, 12 March 2010 10:06 Mišel Brezak

Our member Juraj Gospodarić graduated with diploma thesis entitled “Microprocessor control system development for robot soccer mobile robot”. During work on his thesis he developed motor control module and supervisor module for soccer robot. He also designed intermodule communication using I2C and CAN communication protocols. The final circuit board is not yet finished, but we hope to see it soon. We wish Jura good luck in future work.

Last Updated on Friday, 12 March 2010 10:33

Robot Dance

Sunday, 11 October 2009 08:35 Mišel Brezak

We are proud to present our new RoboDance module. Yes, it's true - our soccer robots now can dance as well. The module was developed during academic year 2008/09 by students Vanja Smailović and Mijo Čikeš under supervision of Mišel Brezak. Finally we have prepared some nice video demonstrations; one of them can be seen bellow.

The whole RoboDance package contains Matlab application for creating dance choreography, and C++ module for executing the choreography.

The main purpose of the Matlab application is a design and simulation of choreography for our robot dancers. The problem is actually how to create trajectories for instantaneous motion of multiple robots without collision, which are visually pleasant and synchronized with the music. Trajectories produced by the application consist of straight lines and circular arcs. The Matlab application was developed Vanja Smailović and Mijo Čikeš under supervision of Mišel Brezak.

C++ module serves for execution of the choreography and is embedded into robot soccer application. This module ensures that robots actually track the created trajectories. For this, we use nonlinear trajectory tracking controller for nonholonomic systems. For reproduction of the music a wxMedia class that is part of wxWidgets library was used. C++ RoboDance module was developed by Mišel Brezak.

Until now we have two choreographies that try to reproduce an old dance originating from south Croatia called Linđo. Special thanks to Vanja Smailović for creating both choreographies. The above choreography video was also demonstrated during opening ceremony of European Conference on Mobile Robots (ECMR’09) that took part in Mlini/Dubrovnik-Croatia in September 2009.

To find out more about robot dance, follow this link: [Robot Dance] (web site in Croatian created by Vanja Smailović).

Last Updated on Monday, 12 October 2009 10:32

Zvonko Kutleša graduated

Sunday, 04 October 2009 09:46 Mišel Brezak

Our member Zvonko Kutleša graduated with diploma thesis entitled “System for wireless communication between mobile robots for robot soccer and control computer”. During work on his thesis he developed and tested system and protocol for wireless communication between robots and host computer using nRF24l01 RF chip. This is an important step towards construction of our new soccer robot.

Last Updated on Sunday, 04 October 2009 09:57

Students visit

Wednesday, 27 May 2009 17:48 Mišel Brezak

On may 27. visited us students interested in robotics from primary school "Julije Klović" from Zagreb. Maybe some of them will be our future students. Some photos can be found at this link.

Last Updated on Wednesday, 27 May 2009 18:11

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