Qualitative World Models for Soccer Robots. Schiffer, S., Ferrein, A., & Lakemeyer, G. In Wölfl, S. & Mossakowski, T., editors, Qualitative Constraint Calculi, Workshop at KI 2006, Bremen, pages 3–14, 2006.
abstract   bibtex   
Until now world models in robotic soccer have been mainly quantitative in nature, consisting of fine-grained (numerical) estimates of player positions, ball trajectories, and the like. In contrast, the concepts used in human soccer are largely qualitative. Moving to qualitative world models also for robots has the advantage that it drastically reduces the space of possible game situations that need to be considered and, provided the concepts correspond to those in human soccer theory, it eases the task of agent specification for the designer. In this paper we propose qualitative representations using ideas from spatial cognition and employing Voronoi diagrams. We also discuss how reasoning with these representations is achieved within our underlying agent programming framework.
@InProceedings{schifferFL06kiqcc, 
   AUTHOR    = {Stefan Schiffer and Alexander Ferrein and Gerhard Lakemeyer},
   TITLE     = {Qualitative World Models for Soccer Robots},
   OPTCROSSREF = {ki2006qcc},
   BOOKTITLE = {Qualitative Constraint Calculi, Workshop at KI 2006, Bremen},
   PAGES     = {3--14},
   YEAR      = {2006},
   EDITOR    = {Stefan W{\"o}lfl and Till Mossakowski},
   isbn      = {3-88722-666-6},
   abstract  = " Until now world models in robotic soccer have been
                  mainly quantitative in nature, consisting of
                  fine-grained (numerical) estimates of player
                  positions, ball trajectories, and the like. In
                  contrast, the concepts used in human soccer are
                  largely qualitative.  Moving to qualitative world
                  models also for robots has the advantage that it
                  drastically reduces the space of possible game
                  situations that need to be considered and, provided
                  the concepts correspond to those in human soccer
                  theory, it eases the task of agent specification for
                  the designer. In this paper we propose qualitative
                  representations using ideas from spatial cognition
                  and employing Voronoi diagrams. We also discuss how
                  reasoning with these representations is achieved
                  within our underlying agent programming framework.",
}

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