Print Email Facebook Twitter Facing the ball carrier in AI World Cup soccer Title Facing the ball carrier in AI World Cup soccer Author Velthoven, Tim (TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Intelligent Systems) Contributor Prakash, Kushal (mentor) Bidarra, Rafael (mentor) Picek, S. (graduation committee) Degree granting institution Delft University of Technology Programme Computer Science and Engineering Project CSE3000 Research Project Date 2021-07-01 Abstract Robot soccer competitions have been around for a while and have been a great environment to develop AI algorithms in. One of these environments is the AI world cup. The AI world cup environment is a virtual environment where two teams with five robots each play a soccer match. This paper focuses on defending the attacker that is carrying the ball in the AI world cup environment. This is achieved by comparing two approaches, a rule-based algorithm, and a Deep Deterministic Policy Gradient rein- forcement learning algorithm. The two algorithms are based on a coaching framework build by the TU Delft. This framework implements the actions of the robots, such as moving, jumping, and kicking the ball, and the communication between the robots. The two approaches have been evaluated and the rule-based outperforms the reinforce- ment learning algorithm. Furthermore, a teamwork strategy between the goalkeeper and defender has been developed, where this teamwork is a significant improvement over the non-teamwork algorithm. Subject AI World CupRobot soccer defenseDDPGReinforcement Learning To reference this document use: http://resolver.tudelft.nl/uuid:bf39e0c6-78a8-4df6-b6f8-f8f9d079257b Part of collection Student theses Document type bachelor thesis Rights © 2021 Tim Velthoven Files PDF Research_Paper_Tim_Velthoven_3_.pdf 1.43 MB Close viewer /islandora/object/uuid:bf39e0c6-78a8-4df6-b6f8-f8f9d079257b/datastream/OBJ/view