Play Everywhere: A Temporal Logic based Game Environment Independent Approach for Playing Soccer with Robots

TL;DR

This paper introduces a hierarchical, temporal logic-based approach enabling soccer-playing robots to adapt behaviors and goals dynamically to various unstructured environments, improving generalization beyond hard-coded strategies.

Contribution

It presents a novel hierarchical framework that allows robots to select operational levels based on environmental semantics, facilitating flexible adaptation in unstructured settings.

Findings

Effective in unstructured environments

Adapts behaviors based on environmental semantics

Demonstrated across three diverse scenarios

Abstract

Robots playing soccer often rely on hard-coded behaviors that struggle to generalize when the game environment change. In this paper, we propose a temporal logic based approach that allows robots' behaviors and goals to adapt to the semantics of the environment. In particular, we present a hierarchical representation of soccer in which the robot selects the level of operation based on the perceived semantic characteristics of the environment, thus modifying dynamically the set of rules and goals to apply. The proposed approach enables the robot to operate in unstructured environments, just as it happens when humans go from soccer played on an official field to soccer played on a street. Three different use cases set in different scenarios are presented to demonstrate the effectiveness of the proposed approach.