Dynamic set pieces for CAMBADA team

Robotics is an emergent branch of engineering that involves the conception, manufacture, and control of robots. It is a multidisciplinary field that combines electronics, design, computer science, artificial intelligence, mechanics and nanotechnology. Its evolution results in machines that are able to perform tasks with some level of complexity. Multi-agent systems is a researching topic within robotics, thus they allow the solving of higher complexity problems, through the execution of simple routines. Robotic soccer allows the study and development of robotics and multiagent systems, as the agents have to work together as a team, having in consideration most problems found in our quotidian, as for example adaptation to a highly dynamic environment as it is the one of a soccer game. CAMBADA is the robotic soccer team belonging to the group of research IRIS from IEETA, composed by teachers, researchers and students of the University of Aveiro, which annually has as main objective the participation in the RoboCup, in the Middle Size League. The purpose of this work is to improve the coordination in set pieces situations. This thesis introduces a new behavior and the adaptation of the already existing ones in the offensive situation, as well as the proposal of a new positioning method in defensive situations. The developed work was incorporated within the competition software of the robots. Which allows the presentation, in this dissertation, of the experimental results obtained, through simulation software as well as through the physical robots on the laboratory.

Reuse and integration of specification logics: the hybridisation perspective

Hybridisation is a systematic process along which the characteristic features of hybrid logic, both at the syntactic and the semantic levels, are developed on top of an arbitrary logic framed as an institution. It also captures the construction of first-order encodings of such hybridised institutions into theories in first-order logic. The method was originally developed to build suitable logics for the specification of reconfigurable software systems on top of whatever logic is used to describe local requirements of each system’s configuration. Hybridisation has, however, a broader scope, providing a fresh example of yet another development in combining and reusing logics driven by a problem from Computer Science. This paper offers an overview of this method, proposes some new extensions, namely the introduction of full quantification leading to the specification of dynamic modalities, and exemplifies its potential through a didactical application. It is discussed how hybridisation can be successfully used in a formal specification course in which students progress from equational to hybrid specifications in a uniform setting, integrating paradigms, combining data and behaviour, and dealing appropriately with systems evolution and reconfiguration.