Qualitative case-based reasoning for humanoid robot soccer: A new retrieval and reuse algorithm

Thiago P.D. Homem, Danilo H. Perico, Paulo E. Santos, Reinaldo A.C. Bianchi, Ramon L. de Mantaras

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper proposes a new Case-Based Reasoning (CBR) approach, named Q-CBR, that uses a Qualitative Spatial Reasoning theory to model, retrieve and reuse cases by means of spatial relations. A qualitative distance and orientation calculus (EOPRA) is used to model cases using qualitative relations between the objects in a case. A new retrieval algorithm is proposed that uses the Conceptual Neighborhood Diagram to compute the similarity measure between a new problem and the cases in the case base. A reuse algorithm is also introduced that selects the most similar case and shares it with other agents, based on their qualitative position. The proposed approach was evaluated on simulation and on real humanoid robots. Preliminary results suggest that the proposed approach is faster than using a quantitative model and other similarity measure such as the Euclidean distance. As a result of running Q-CBR, the robots obtained a higher average number of goals than those obtained when running a metric CBR approach.

Original languageEnglish
Title of host publicationCase-Based Reasoning Research and Development - 24th International Conference, ICCBR 2016, Proceedings
EditorsM. Belen Diaz-Agudo, Thomas Roth-Berghofer, Ashok Goel
PublisherSpringer-Verlag
Pages170-185
Number of pages16
ISBN (Print)9783319470955
DOIs
Publication statusPublished - 29 Sep 2016
Externally publishedYes
Event24th International Conference on Case-Based Reasoning Research and Development, ICCBR 2016 - Atlanta, United States
Duration: 31 Oct 20162 Nov 2016

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9969 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference24th International Conference on Case-Based Reasoning Research and Development, ICCBR 2016
CountryUnited States
CityAtlanta
Period31/10/162/11/16

Keywords

  • Case-based reasoning
  • Humanoid robots
  • Qualitative spatial reasoning

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