Solving Robocup Problems Using Different Methodologies: Agent Oriented Programming & Design, Expert System and Genetic Programming - Binus e-Thesis

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INTERNATIONAL UNDERGRADUATE PROGRAM

BINA NUSANTARA UNIVERSITY

Major Computer Science

Sarjana Komputer Thesis

Semester Even year 2004/2005

SOLVING ROBOCUP PROBLEMS USING DIFFERENT METHODOLOGIES:

Agent Oriented Programming & Design, Expert System, and Genetic

Programming

David Kartopranoto

Glenn Cornelius Layaar

0500550632

Henry Suryawirawan

0500563521

0500552985

Abstract

RoboCup is an international competition in which teams of autonomous robots or

software softbots compete in simulated soccer matches to demonstrate cooperative

robotic techniques in a very difficult, dynamic, real-time, and noisy environment. This

thesis will only deal with creating software softbots soccer teams which were developed

using three different methodologies: Agent Oriented Programming and Design, Expert

System, and Genetic Programming. It is hoped that the results of the experiment would

be able to point out some advantages and disadvantages of using each methodology in

solving the RoboCup problem or similar type of problems.

To simplify the problem domain, we created our own simulator including the exclusion

of real time problem restriction that is introduced in the real RoboCup simulator. Each

methodology submitted a five-player soccer team, and along with two other benchmark

teams, would compete in a simulated league in which each team would meet each other.

The results show that it is possible to solve RoboCup problem using those three

methodologies which can perform well. A surprising result came through as the Genetic

Programming team, developed using machine learning technique, finished the league on

top of one methodology which was hand-coded with fully human intervention. This

shows promising outcome of the machine learning techniques to solve similar type of

problems.

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Acknowledgements

We would like to thank Raymondus Kosala, Ph. D for his guidance, assistance, and

encouragement throughout the development of this thesis. We would also like to thank

our friend Yakin for his participation in creating a benchmark team to be included in our

experiment. Our family, friends, and teachers are also a constant support for which we

are especially grateful.

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TABLE OF CONTENTS

...ERROR! BOOKMARK NOT DEFINED. COVER PAGE

TITLE PAGE ...ERROR! BOOKMARK NOT DEFINED.

CERTIFICATE OF APPROVAL FOR HARDCOVER COPYERROR! BOOKMARK NOT DEFINED.

ABSTRACT ... II

ACKNOWLEDGEMENTS...III

TABLE OF CONTENTS

...7 ...4

LIST OF TABLES

LIST OF FIGURES...8

APPENDICES...10

1. INTRODUCTION...ERROR! BOOKMARK NOT DEFINED.

1.1 BACKGROUND...ERROR! BOOKMARK NOT DEFINED.

1.1.1 Agent Oriented Programming and Design ...Error! Bookmark not defined.

1.1.2 Expert System...Error! Bookmark not defined.

1.1.3 Genetic Programming...Error! Bookmark not defined.

1.2 SCOPE...ERROR! BOOKMARK NOT DEFINED.

1.3 AIMS AND BENEFITS...ERROR! BOOKMARK NOT DEFINED.

1.4 RESEARCH QUESTIONS...ERROR! BOOKMARK NOT DEFINED.

1.5 STRUCTURES...ERROR! BOOKMARK NOT DEFINED.

2. THEORETICAL FOUNDATION...ERROR! BOOKMARK NOT DEFINED.

2.1 AGENT ORIENTED PROGRAMMING AND DESIGN...ERROR! BOOKMARK NOT DEFINED.

2.1.1 Agent Definitions ...Error! Bookmark not defined.

2.1.2 Agent Concept...Error! Bookmark not defined.

2.2 EXPERT SYSTEM...ERROR! BOOKMARK NOT DEFINED.

2.1.1 Definition of Expert...Error! Bookmark not defined.

2.1.2 Advantages and Disadvantages of Expert System...Error! Bookmark not defined.

2.1.3 Applications of Expert System ...Error! Bookmark not defined.

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2.1.5 Rule-based Expert Systems ...Error! Bookmark not defined.

2.1.5.1 Rules and Facts ...Error! Bookmark not defined.

2.1.5.2 Forward chaining (a data driven strategy) ...Error! Bookmark not defined.

2.1.5.3 Conflict resolution strategy ...Error! Bookmark not defined.

2.1.5.4 Backward chaining (a goal-driven strategy)...Error! Bookmark not defined.

2.3 GENETIC PROGRAMMING...ERROR! BOOKMARK NOT DEFINED.

2.3.1 Genetic Programming...Error! Bookmark not defined.

2.3.2 Functions and Terminals ...Error! Bookmark not defined.

2.3.3 Closure and Sufficiency Properties...Error! Bookmark not defined.

2.3.4 Genetic Programming Algorithm...Error! Bookmark not defined.

2.3.5 Fitness...Error! Bookmark not defined.

2.3.6 Selection Methods...Error! Bookmark not defined.

2.3.7 ...Error! Bookmark not

defined.

Evolutionary Operations: Reproduction, Crossover, and Mutation

2.3.8 Strongly Typed Genetic Programming...Error! Bookmark not defined.

2.3.9 Co-evolution...Error! Bookmark not defined.

2.3.10 Genetic Programming Applied to Soccer ...Error! Bookmark not defined.

3. PROBLEM ANALYSIS ...ERROR! BOOKMARK NOT DEFINED.

3.1 THE ROBOCUP PROBLEM...ERROR! BOOKMARK NOT DEFINED.

3.2 MYSIMULATOR...ERROR! BOOKMARK NOT DEFINED.

4. SOLUTION DESIGN ...ERROR! BOOKMARK NOT DEFINED.

4.1 AGENT ORIENTED PROGRAMMING AND DESIGN...ERROR! BOOKMARK NOT DEFINED.

A. System Specification ...Error! Bookmark not defined.

1) System Goals...Error! Bookmark not defined.

2) Functionalities...Error! Bookmark not defined.

3) Scenarios...Error! Bookmark not defined.

4) System Interface Diagram...Error! Bookmark not defined.

...Error! Bookmark not defined. B. Architectural Design

...Error! Bookmark not defined.

1) Grouping Functionalities

2) Interaction Protocol ...Error! Bookmark not defined.

3) System Overview...Error! Bookmark not defined.

C. Detailed Design...Error! Bookmark not defined.

1) Agent Overview...Error! Bookmark not defined.

2) Process Diagram...Error! Bookmark not defined.

4.1.1 JACK...Error! Bookmark not defined.

4.2 EXPERT SYSTEM...ERROR! BOOKMARK NOT DEFINED.

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4.2.2 Jess...Error! Bookmark not defined.

4.2.3 Facts design...Error! Bookmark not defined.

4.2.4 Rules design...Error! Bookmark not defined.

4.2.5 Conflict resolution strategy design...Error! Bookmark not defined.

...Error! Bookmark not defined. 4.2.6 Brain Design

4.3 GENETIC PROGRAMMING...ERROR! BOOKMARK NOT DEFINED.

4.3.1 Experiment Design...Error! Bookmark not defined.

4.3.2 GP System and Simulator...Error! Bookmark not defined.

4.3.3 Evolutionary Team Submission...Error! Bookmark not defined.

4.3.4 Evolution History...Error! Bookmark not defined.

5. IMPLEMENTATION AND RESULT...ERROR! BOOKMARK NOT DEFINED.

5.1 LEAGUE PREPARATION...ERROR! BOOKMARK NOT DEFINED.

...ERROR! BOOKMARK NOT DEFINED. 5.2 LEAGUE RESULTS

...ERROR! BOOKMARK NOT DEFINED. 6. EVALUATION

6.1 DEVELOPMENT ANALYSIS...ERROR! BOOKMARK NOT DEFINED.

6.2 RESULT ANALYSIS...ERROR! BOOKMARK NOT DEFINED.

7. CONCLUSION AND RECOMMENDATION...ERROR! BOOKMARK NOT DEFINED.

7.1 CONCLUSION...ERROR! BOOKMARK NOT DEFINED.

7.2 RECOMMENDATION...ERROR! BOOKMARK NOT DEFINED.

BIBLIOGRAPHY ...ERROR! BOOKMARK NOT DEFINED.

CURRICULUM VITAE ...ERROR! BOOKMARK NOT DEFINED.

APPENDIX A: LEAGUE STATISTICAL RESULTS ...ERROR! BOOKMARK NOT DEFINED.

APPENDIX B: FIXTURES RESULTS ...ERROR! BOOKMARK NOT DEFINED.

APPENDIX C: KAKEGAWA TEAM...ERROR! BOOKMARK NOT DEFINED.

APPENDIX D: EVO TEAM PROGRAMS ...ERROR! BOOKMARK NOT DEFINED.

APPENDIX E: EXPERT SYSTEM TEAM RULES TREES ..ERROR! BOOKMARK NOT DEFINED.

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List of Tables

Table 4.1

: Facts table

...

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Table 4.2

: Terminal set used in the evolutionary runs.

Table 4.3

: Function set used in the evolutionary runs...

Table 4.4

: GP control parameters...

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Table 5.1

: League final table result...

Table 6.1

: GP vs ES table result...

Table 6.2

: ES vs other teams table result ...

Table 6.3

: GP team table result ...

Table 6.4

: Agent team table result ...

Table 7.1

: Advantages and disadvantages of each methodology

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not defined.

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List of Figures

Figure 2.1

: Agent Execution Cycle...

Figure 2.2

: AI Programs...

Figure 2.3

: Forward Chaining...

Figure 2.4

: Depth-first search ...

Figure 2.5

: Breadth-first search ...

Figure 2.6

: A GP program represented as a program tree

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Figure 2.7

: Flow chart of genetic programming algorithm

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defined.

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Figure 4.10

: Soccer Agent Goal Scoring Process Diagram

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defined.

Figure 4.11

: MidFielder Agent Goal Scoring Process Diagram

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Figure 4.12

: Expert system process each tick ...

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Appendices

Appendix A: League Statistical Results ...

Appendix B: Fixtures Results ...

Appendix C: Kakegawa Team ...

Appendix D: Evo Team Programs ...

Appendix E: Expert System Team Rules Trees...