O que fazemos

Cooperative multi-robot and multi-agent systems in the dynamic environment of a football match. All robots in this area are autonomous.
Competition categories we currently participate in: RoboCupSoccer – Small Size, IEEE – Very Small Size Soccer.

History

RoboCupFed
RoboCupBrasil
CBR-logo
ieee-ras-logo
Prior to explaining the categories, it is worth delving into the history and objectives of the RoboCup federation as a whole, due to its extreme importance to the global robotics scene and its relevance to the group.To encourage the development of this multidisciplinary branch of science, a challenge for robotics as a whole began to be discussed and designed in 1992 – during the Workshop on Grand Challenges in Artificial Intelligence event in Tokyo. Ideas that would later lead to the creation of RoboCup in 1997 were debated there.With the intention of being a vehicle to promote research in artificial intelligence and robotics, this organization’s ultimate goal is to present a football team – composed of fully autonomous humanoid robots – capable of winning a match, obeying the official FIFA rules, against the winning team of the most recent World Cup.In this way, through technical-scientific development in AI and robotics, the organization aims to achieve a historical milestone for humanity, just as it was in the victories of IBM Deep Blue and AlphaGo against human players of – respectively – chess and Go.To achieve this feat, several leagues and categories were created in order to offer gradual challenges towards this goal, with RoboCup Soccer – Small Size and RoboCup@Home – Open Platform being two of those in which we participate today. However, in the past, we have been present in others, such as RoboCup Soccer – Simulation 2D and 3D.In Brazil, the events in which these competitions are held are: the Brazilian Robotics Competition (CBR) and the Latin American Robotics Competition (LARC), organized by RoboCup, RoboCup Brasil, and the IEEE Robotics & Automation Society.

RoboCupSoccer - Small Size

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2016, 2018

  • 2

2015, 2017

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2009, 2011, 2014, 2019

The category

Also known as the F180 league, this category is one of the oldest in RoboCup. Its focus consists of the problem of intelligent multi-robot/agent cooperation in a highly dynamic environment, with a centralized/distributed system.

A game takes place between two teams of six robots each, all of which are compatible with the dimensions specified in the league rules: each robot must fit within a 180 mm diameter circle and must not be taller than 15 cm. The match ball is an orange golf ball, and the field is a green carpet 9 m long by 6 m wide.

All objects on the field are identified by a standardized, open-source vision system maintained by the league’s community, SSL-Vision. The raw data processed by this program is provided by four cameras, all attached to bars 4 m above the carpet surface.

Our team

Our team in this category is made up of six identical robots named WRMagic, also known by the league’s acronym: SSL.

On the hardware side, simply put, each robot has 3 printed circuit boards, 4 omnidirectional wheels, and a ground kicking mechanism. Thus, several areas of knowledge are necessary for their development, ranging from the mechanical aspects of the materials involved in the robot’s structure to electronics and embedded software, as well as the control engineering behind the precision of its movement in the match.

In terms of software, there are 5 major programs that together handle all the data processing during the match: WRCoach, GearSystem, WRBackbone, WREye, and WRStation. The first is our artificial intelligence software, the second is a distributed integration program for multi-robot control, the third is our central server for connecting the other software, the fourth is the computer vision program that receives data from the cameras for filtering before sending it to the other systems, and lastly, the software responsible for issuing commands to the real world through a radio station, via our WRUnited communication protocol.

Four robots of our team in a stopped ball positioning

RoboCupSoccer - Simulation 2D & 3D

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2D: 2009, 2010
3D: 2011

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2D: 2011, 2012
3D: 2012

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The categories

TBD…

Our teams

TBD…

IEEE - Very Small Size Soccer

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2011, 2012, 2016, 2017

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2009, 2010, 2014, 2015

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2018

The category

Originally named MiroSot, this category emerged in the Federation of International Sports Association (FIRA), another federation like RoboCup, but more popularly known in the East. In Brazil, this league was incorporated into RoboCup by the IEEE Robotics & Automation Society, under the name Very Small Size Soccer. Besides CBR/LARC, there are other competitions that also feature this modality, or have featured it at some point, such as the Iron Cup – in which we won the 2016 and 2017 titles.Popularly known by its acronym, VSS, all robots must not exceed the dimensions of a 7.5 cm cube. At the beginning of this category, a match consisted of 3 robots per team, but, in addition to this modality, nowadays there are 5-on-5 matches. The field is basically the same for both modalities, differing in dimensions and minor details.Unlike the F180, the players do not have a specific kicking mechanism, and rely on only 2 wheels for their locomotion.

Our team

Just like our F180 team, we have 6 identical robots, but named SubZero.Their hardware, briefly speaking, consists of a single printed circuit board and two unidirectional wheels. Its ABS shell was entirely printed at the Renato Archer Information Technology Center (CTI) in Campinas, giving our SubZero the title of the first printed Brazilian robot.The software used is almost identical to the F180’s, with the exception of the computer vision program, which is entirely different and developed by us. Thus, all those previously listed in the SSL are also employed here, with the modifications being – roughly speaking – only in matters of strategy, locomotion, and ball possession.
Photo of our team's match against the UNESP team
Controlled multi-robot systems in the extreme and intense environment of a battle.
Competition categories we currently participate in: Robot Combat – Featherweight.

Robot Combat

The category

Because robot battles are an extreme, unpredictable, and dangerous environment, given that shards and robot parts can fly everywhere at any moment, the clashes are held in armored arenas. In this case, since each subcategory is differentiated by weight, the most diverse and powerful weapons are more common in higher weight classes. Therefore, there is a specific arena size for each one, whose dimensions and protection requirements increase along with the weight increase.Starting with the fairyweight class, with robots of at most 150 g, the arena must have a minimum area of 1 m² and 1 m in height, with the protection made of polycarbonate sheets at least 2 mm thick. However, for the reasons previously described, the last class, the lightweight – with robots of at most 27.2 kg – must have an arena with minimum dimensions of 49 m² by 2 m in height, with polycarbonate sheet protection of at least 9.5 mm thick.The group currently participates in one of these subcategories, the featherweight, with robots of at most 13.6 kg and an arena with minimum dimensions and protection of: 36 m² of area by 2 m in height, with polycarbonate sheets 8 mm thick.However, we have participated in another class in the past, the hobbyweight: robots of at most 5.44 kg, with an arena of 16 m² by 2 m in height, with polycarbonate sheets 6 mm thick.

Wardog - Featherweight

Our robot

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2013

Wardog, our robot in this category, is designed as a shell-type, meaning its main mechanism is a spinning structure that protects it like a house. The main concept of a shell robot, and consequently of Dog, as it is affectionately called, is to be attacking and defending at all times. A robot like this, classified as non-directional, can attack opponents while moving in any direction and, most importantly, when it is attacked, it will inevitably be attacking back.Wardog is a difficult robot to drive and maintain, which increasingly elevates development across several areas of knowledge, always trying to maximize the robot’s core principle with new alternatives and features, making it tougher inside the arena.Among these developments, in recent years, the area of materials science and engineering has been fundamental. Aiming to make the robot more efficient, a material base combining fiberglass, carbon fiber, and aramid bonded by an epoxy polymer matrix was researched and implemented. This composite material aims to be a lighter and more resistant part, allowing for the use of more robust structures in other systems of the robot.Another project related to Wardog was the enhancement of the weapon, in which heat treatments such as quenching, tempering, stress relief, and normalizing were applied to specific parts of the robot, manipulating the properties of the materials to make them more resistant. This strategy was applied seeking a competitive advantage in the intensity of the attacks compared to other teams.
Wardog in position before the battle

Andrômeda - Hobbyweight

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Our robot

Andromeda is a drum-type combat robot, in which the high rotation of its front weapon is intended to lift the struck part of the opposing robot, aiming to throw it into the air and flip it upside down. However, the main highlight of the Andromeda robot is its defense mechanism against this exact type of attack, since it is a common strategy in the Brazilian robot battle scene. This mechanism is based on the principle of the robot being reversible, meaning there is a partial symmetry, along with mechanical and electronic features, that allow the robot to be driven in any orientation, without the need for a mechanism that forces the robot back to its original position The principle of Andromeda’s reversibility lies in the automatic inversion of the motors’ rotation as soon as a change in the robot’s orientation is detected. Thus, the driver, and the co-driver, do not need to worry about flipping the robot back over or inverting the controls to continue driving. Just like Wardog, Andromeda also had projects aimed at maximizing its features through materials selection, engineering, and science. In the structural part, composite materials were used to reduce weight and maintain the resistance of some parts. This saved weight was compensated for in the weapon system, which requires more robustness for the fights. Still in the structural system, the material selection for the robot’s base was designed to reduce vibrations, thus facilitating driving. For the weapon, heat treatments were also used to enhance the characteristics of each metallic part of the system, making the weapon more resistant and effective.
Andromeda inside the arena during a battle

Cetus - Beetleweight

Our robot

Cetus is a robot in the beetleweight (up to 1.36 kg) category, designed and manufactured in 2022, classified as a horizontal spinner, due to its high-speed horizontal–action blade.
Marked by versatility due to some features of its design and construction, Cetus stands out for its reversibility, as the robot remains fully functional even when turned upside down. Another striking feature is the ability to adjust the weapon’s height according to the opponent, thus making it a more adaptable robot. One of the greatest challenges for the execution of this robot is balancing strength, resistance, and weight. Because it is a category with a relatively low weight limit, finding components and structures that provide good combat performance becomes an arduous task. One of the main solutions to this problem was the use of fiberglass and aramid, infused via RIFT with epoxy resin, to manufacture high-strength and low-density composites, which make up the robot’s chassis. This stage had the help of GCom (Composites Group of USP), with the essential participation of Professor José Ricardo Tarpani and Professor Alessandra Soares Pozzi Tarpani. Another interesting fact is the diversity of materials involved in a single project. In addition to the structure made of composite, as mentioned earlier, and the electronic components, Cetus has wheels made of polymers, with the wheel hub made of nylon while the part that makes contact with the ground is made of polyurethane, increasing grip in the arena and facilitating control during battles. Other parts of the robot are composed of metals; parts that undergo less stress are made of aluminum for weight reduction, while those that take direct impact are made of heat-treated S1 steel to further increase their hardness.
Autonomous robotic systems capable of performing domestic tasks in a realistic home environment setting.Competition categories we currently participate in: RoboCup@Home – Open Platform.For more information regarding the RoboCup federation, see the Robot Football section.

RoboCup@Home - Open Platform

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2021

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2017 – 2020

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The category

The @Home category challenges competitors to develop autonomous mobile robots that can assist with domestic tasks, such as taking out the trash, putting away groceries, or even welcoming guests to a party at your home. In the Open modality, each team develops not only the software necessary to execute each task but also the hardware—the robot itself. To better exemplify the process of solving these tasks, imagine the following scenario: a person requests an object in a certain room of the house from the robot. Given a voice command from the person, the robot must abstract the verbal commands, transcribe what was requested, and interpret the data. Once the task is identified, the robot must consult its memories of the previous mapping of the house and localize itself within the environment. From this, a route is plotted on this virtual map, with the robot considering its own size, speed, and locomotion capabilities. Along the way, it must use its sensors to detect and avoid obstacles, whether they are stationary or moving, and unforeseen hindrances (people walking, animals, and objects dropped on the floor). Upon arriving in the correct room, it is necessary to determine the orientation of the requested object. Next, the movements of its manipulator are carefully planned and executed to ensure possession of the object, while taking precautions regarding the safety of itself and those around it. With all this done, the robot—through the previously described actions—travels the path back to the correct person with the requested object, finishing the task when it is delivered to the individual.

Our robot

Named Antares, the robot in this category evolved from a simple concept into a complex system of hardware and software to perform the league’s most diverse tasks. At the beginning of the project, the robot was basically a notebook on wheels, capable of interacting with people via voice, navigating the house autonomously while avoiding obstacles, and recognizing objects through artificial intelligence algorithms.
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The pictures show the evolution of the Antares robot

Currently, the robot features an onboard computer responsible for processing all sensor data, in addition to a customized structure to protect the electronics and ensure a good aesthetic for the platform. Furthermore, it also has a manipulator – a robotic arm – to interact with household objects. To ensure its interaction with the world, Antares has several sensors, such as: a Hokuyo URG-04LX-UG01 (2D LiDAR) and a Kinect 2, laser scanners for mapping the surrounding environment; a microphone to capture voice commands; and an LCD to display messages and its face, in order to assist in human-robot interaction. Its locomotion is provided by the Pioneer P3-DX platform combined with our customized aluminum and polycarbonate structure. The manipulator was designed and built to handle a payload of up to 1 kg.

Sistemas robóticos autônomos capazes de correr em um percurso especificado por uma linha contínua, a fim de determinar qual é o mais rápido. 

Corrida de Robôs

A categoria follow line

Uma das modalidades mais comuns na robótica, a qual está presente em muitas feiras e exposições do assunto por ser uma ótima forma de introdução ao complexo mundo da robótica, é a dos robôs Follow Line. 

Os robôs “seguidores de linha” possuem um funcionamento bem intuitivo em relação ao seu nome. Eles se baseiam no reconhecimento de linhas ou faixas no chão, e são capazes de se locomover ao longo dessas marcações. O processo envolvido nesse sensoriamento pode variar de acordo com as especificações do robô e do evento em qual um Follow Line participará, em que tecnologias como sensores infravermelhos ou sensores de coloração são abordadas. 

É válido ressaltar que a imensa maioria de robôs Follow Line possuem o pretexto de automação, ou seja, eles são capazes de se locomoverem ao longo das linhas sem o auxílio de um humano. É claro que há restrições em relação ao ambiente e condições iniciais necessárias para o comportamento autônomo do robô, contudo, ainda é um processo interessante e ideal para introduzir novos interessados à robótica automotiva. 

Nesse contexto, essa categoria de robôs é extremamente utilizada para eventos e competições relacionadas à corridas.  Cada situação requer um formato, tamanho e velocidade diferentes, o que de fato cria desafios para os desenvolvedores de tais tecnologias.  

Tendo em vista o princípio inovador do Warthog Robotics, o desenvolvimento de um robô seguidor de linha foi o novo projeto adotado pela equipe no ano de 2021.

Nosso robô

Nomeado de Auriga, o robô Follow Line da equipe está em estado de desenvolvimento e previsto para participar de competições e eventos de robótica no segundo semestre de 2022.   

Embutido de sensores infravermelho para reconhecimento das linhas, micromotores Faulhaber e microcontrolador da linha PIC, o Auriga segue para se tornar um competitivo robô seguidor de linha. 

Research projects focused on developing and enhancing knowledge in all areas associated with robotics.

Our research lines

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2016, 2014, 2013, 2x 2011

Since the beginning of the group’s history, in sync with the pillars of USP, research has been one of our foundations. Undergraduate and graduate students are advised by our faculty tutors and assisted by senior members. Numerous proposals for Undergraduate Research (IC), Capstone Projects (TCC), Master’s Dissertations, and Doctoral Theses have been developed using the group’s expertise. In 11 years of existence, we have completed 6 PhDs, 11 Master’s degrees, and hundreds of Capstone Projects and Undergraduate Research projects, totaling 4 honorable mentions and 1 Jabuti Award. This research has been compiled into robot improvements and actions, as well as technical reports and papers published in high-impact national and international events.Due to our connection with competitions, a large portion of our work has been presented at the RoboCup Symposium and LARS (Latin-American Robotics Symposium), scientific events held in conjunction with the competitions. Additionally, all Undergraduate Research (IC) projects were presented at another major academic event, SIICUSP (International Symposium on Undergraduate Research and Technology at USP).The main lines of research are in:
  • Artificial intelligence applied to football
  • Controllers and modeling
  • Simulation and mechanical development
  • Simulation and electronic development
  • System architectures
  • Domestic robots
  • Educational robotics
We have a defined roadmap, following the new challenges proposed by competitions as well as the needs of the community, and we will continue to strengthen our research to ensure scientific excellence with a clear application for students and society at large.

Publications

2018

Uma análise quantitativa e qualitativa de aprendizado a longo prazo de crianças em idade pré-escolar
Yuri Martins Lourenço, Maria Luiza Telles, Adam Henrique Moreira Pinto, Roseli Aparecida Francelin Romero
Conferência Internacional sobre Informática na Educação (TISE) 2018

LARa: A Robotic Framework for Human-Robot Interaction on Indoor Environments
Caetano Mazzoni Ranieri, Guilherme Vicentim Nardari, Adam Henrique Moreira Pinto, Daniel Carnieto Tozadore, Roseli Aparecida Francelin Romero
Latin American Robots Symposium (LARS) 2018

2017

Modelling a Solenoid’s Valve Movement
Arthur Demarchi, Leonardo Borges Farçoni, Adam Henrique Moreira Pinto, Rafael Guedes Lang, Roseli Aparecida Francelin Romero, Ivan Nunes da Silva
Robocup Symposium 2017

A Review on Locomotion Systems for RoboCup Rescue League Robots
João Pedro Oliveira, Leonardo Borges Farçoni, Adam Henrique Moreira Pinto, Rafael Guedes Lang, Ivan Nunes da Silva, Roseli Aparecida Francelin Romero
Robocup Symposium 2017

2016

State-Space Modeling and Offline Evolutive Parameter Estimation of a Generic Robotic Platform
Leonardo Borges Farçoni, Écyo Farias, José Montandon, Pedro Rogério de Paula Guimarães, Nuno B. Barcellos, Leonardo Costa Ramos, Rafael Guedes Lang, Ivan Nunes da Silva, Roseli Aparecida Francelin Romero,
2016 IEEE Congress on Evolutionary Computation (CEC)

Um sistema de reconhecimento de objetos incorporado a um robô humanoide com aplicação na educação
Adam Henrique Moreira Pinto, Roseli Ap. Francelin Romero
Prêmio de menção honrosa 🏅

2015

Robótica humanoide no grupo Biocom/LAR da USP de São Carlos
Adam Henrique Moreira Pinto, Murillo Redher Batista, Daniel Carnieto Tozadore, Rafael Guedes Lang, Sabrina Tridico, João Luíz Garcia Rosa, Roseli Aparecida Francelin Romero
I Brazilian Humanoid Robots Workshop (BRAHUR)

2014

Development of Distributed Control Architecture for Multi-Robot Systems
Rafael Guedes Lang, Ivan Nunes da Silva, Roseli Aparecida Francelin Romero
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol (SBR LARS Robocontrol)

Robótica Móvel
Roseli Aparecida F. Romero, Edson Prestes, Fernando Osório, Denis Wolf
2° lugar do prêmio Jabuti na categoria Engenharias, Tecnologias e Informática 🏅

2013

Determinação do Controlador PID por Redes Neurais Artificiais
Pedro Paulo Arantes, Leonardo Borges Farçoni, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Sistema fuzzy para escolha de estratégias no domínio de futebol de robôs
Pedro Morangueira Carlson, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Estudo do algoritmo PID o efeito das diversas constantes sobre a resposta de um sistema de controle em malha fechada
Gustavo Casagrande Oliveira, Leonardo Borges Farçoni, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Simulação do circuito elevador de tensão de topologia boost para o acionamento de um solenoide
Heloísa Junqueira Barbosa, Pedro Henrique Neve dos Santos, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Controle dinâmico de uma plataforma robótica genérica aplicada ao futebol de robôs
Leonardo Borges Farçoni, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP
Prêmio de menção honrosa 🏅

Simulação de Sistemas Robóticos de Alto Impacto
Lucas Ferrari Gerez, Rodrigo Chaves de Nadai, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Modelagem dinâmica da geração de força axial de um solenoide
Rafael Silva Montes, Pedro Henrique Neve dos Santos, Rafael Guedes Lang, Ivan Nunes da Silva
21 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

2011

Desenvolvimento de arquitetura distribuída de controle baseada em CORBA e aplicação no ambiente de robótica móvel autônoma
Rafael Guedes Lang, Ivan Nunes da Silva
19 SIICUSP – Simpósio Internacional de Iniciação Científica da USP
Prêmio de menção honrosa 🏅

Desenvolvimento de Controlador de Baixo Custo para Motores DC
Bernardo A. Rodrigues, Shamir K. Afuso, Rafael Guedes Lang, Ivan Nunes da Silva
19 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Desenvolvimento de uma Plataforma Robótica Móvel Autônoma
Pedro Henrique Neve dos Santos, Adriano S. Komesu, Rafael Guedes Lang, Ivan Nunes da Silva
19 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Sistema Fuzzy para Tomada de Decisão em Futebol de Robôs
Murillo R. Batista, Marclo O. da Silva, Roseli A. F. Romero
19 SIICUSP – Simpósio Internacional de Iniciação Científica da USP
Prêmio de menção honrosa 🏅

Utilização de Filtro de Kalman para Estimativa de Posição de Robôs Móveis Omnidirecionais
Wesley S. Massuda, Filipe C. P. de Oliveira, Rafael Guedes Lang, Ivan Nunes da Silva
19 SIICUSP – Simpósio Internacional de Iniciação Científica da USP

Demonstration and outreach events aimed at sharing the group’s knowledge with society.

Warthog Connection

The Warthog Connection aims to foster interest in engineering and robotics among elementary, middle, high school, and vocational school students. Through this monthly event held in our laboratory, we provide a playful experience where we showcase the main robots developed by the group, explaining how each one works and the competitions we participate in. For students preparing for university entrance exams, we demonstrate how daily life at the university helps us build our projects, while also helping them answer questions about the courses offered at USP São Carlos.
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Ibaté students visiting our laboratory

"A USP e as Profissões" Exhibition

The “A USP e as Profissões” Exhibition, also known as FEPUSP, aims to bring students closer to the scientific community, as well as clarify questions regarding undergraduate courses from various USP departments, both on the capital and countryside campuses. As a research and university outreach group belonging to the departments of the São Carlos School of Engineering (EESC) and the Institute of Mathematical and Computer Sciences (ICMC), we participate annually in the event, where many of our members present the projects developed in our daily activities.
visita-wr
Warthog member presenting projects to the visitors

Course Weeks

Course weeks are spaces designed to bring undergraduates and interested parties closer to the state-of-the-art topics in their future fields of activity through lectures, panel discussions, and workshops on trending market themes. We participate in many of these by bringing presentations and dynamics about the projects we develop, in addition to talking about: our research and its applications for society, the competitions we participate in, and the job market.
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Presentation at Arduino Day 2019, an event organized in part by the Electrical Engineering Integration Week (SIEEL).

Orientation Week

Every year, at the beginning of the academic year, we participate in the freshmen orientation weeks at EESC and ICMC. As a way to establish the newcomers’ first contact with the university and the group, we participate by showcasing our history, internal organization, and projects, in addition to fostering interest in research and robotics through demonstrations and small hands-on activities.