1. Leen-kiat Soh and John Anderson, editors. Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems: Papers from the 2004 AAAI Workshop, 2004. AAAI Press. Note: AAAI Technical Report WS-04-06.
   

   @proceedings{aaai04workshop,
   editor = {Leen-kiat Soh and John Anderson},
   title = {Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems: Papers from the 2004 AAAI Workshop},
   note = {AAAI Technical Report WS-04-06},
   publisher = {AAAI Press},
   location = {Menlo Park, California},
   year = {2004},
   url = {http://www.aaai.org/Library/Workshops/ws04-06.php} 
   }
   

1. Jacky Baltes and Patrick Lam. Design of Walking Gaits for Tao-Pie-Pie, a Small Humanoid Robot. Advanced Robotics, 18(7):713-716, August 2004. Abstract:

   This paper describes the methodology that we used to design and implement balancing and walking gaits for Tao-Pie-Pie, a small 30cm tall humanoid robot. Tao-Pie-Pie is a fully autonomous robot with all power, sensing, and processing done on-board. It is also a minimalistic design with only six degrees of freedom. Nevertheless, its performance is comparable to that of other more complex designs. The paper describes three patterns: (a) a straight walk, (b) a turn on the spot, and (c) a kicking pattern. Sensor feedback is provided by two gyroscopes that provide angular velocity in the left-right and forward-backward plane and a CMOS camera providing vision information. The feedback from the gyroscopes is not used to directly control the walking gait, because the signal is noisy and it would be computationally too expensive for the current processor hardware. Instead, coarse feedback from the gyroscopes is used to monitor the transition from one phase of the pattern to the next. This feedback is used to: (a) determine when a phase has completed successfully, and (b) when to change the endpoints of certain phases. Tao-Pie-Pie proved to be a successful design winning a number of honors at international competitions.

   
   

   @article{baltes04:_desig_walkin_gaits_tao_pie,
   author = {Jacky Baltes and Patrick Lam},
   title = {Design of Walking Gaits for Tao-Pie-Pie, a Small Humanoid Robot},
   journal = {Advanced Robotics},
   year = 2004,
   volume = 18,
   number = 7,
   pages = {713-716},
   month = {August},
   abstract = {This paper describes the methodology that we used to design and implement balancing and walking gaits for Tao-Pie-Pie, a small 30cm tall humanoid robot. Tao-Pie-Pie is a fully autonomous robot with all power, sensing, and processing done on-board. It is also a minimalistic design with only six degrees of freedom. Nevertheless, its performance is comparable to that of other more complex designs. The paper describes three patterns: (a) a straight walk, (b) a turn on the spot, and (c) a kicking pattern. Sensor feedback is provided by two gyroscopes that provide angular velocity in the left-right and forward-backward plane and a CMOS camera providing vision information. The feedback from the gyroscopes is not used to directly control the walking gait, because the signal is noisy and it would be computationally too expensive for the current processor hardware. Instead, coarse feedback from the gyroscopes is used to monitor the transition from one phase of the pattern to the next. This feedback is used to: (a) determine when a phase has completed successfully, and (b) when to change the endpoints of certain phases. Tao-Pie-Pie proved to be a successful design winning a number of honors at international competitions.},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_desig_walkin_gaits_tao_pie.pdf} 
   }
   

1. John Anderson and Jacky Baltes. Agent-Based Control In a Global-Vision Robotic Soccer Team. In Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04), London, ON, pages 60-68, May 2004.
   

   @inproceedings{soccerworkshop,
   author = {John Anderson and Jacky Baltes},
   title = {Agent-Based Control In a Global-Vision Robotic Soccer Team},
   booktitle = {Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
   address = {London, ON},
   pages = {60--68},
   year = {2004},
   month = {May},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/agentsoccer.pdf} 
   }
   




2. John Anderson, Jacky Baltes, and Terry Liu. RoboBisons 2004. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, The Eighth RoboCup Competitions and Conferences, Lisbon, 2004.
   

   @inproceedings{anderson05:_robob,
   author = {John Anderson and Jacky Baltes and Terry Liu},
   title = {RoboBisons 2004},
   booktitle = {The Eighth RoboCup Competitions and Conferences},
   year = 2004,
   editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
   address = {Lisbon} 
   }
   




3. John Anderson, Brian Tanner, and Jacky Baltes. Dynamic Coalition Formation in Robotic Soccer. In Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems, San Jose, CA, July 2004.
   

   @inproceedings{learncoal,
   author = {John Anderson and Brian Tanner and Jacky Baltes},
   title = {Dynamic Coalition Formation in Robotic Soccer},
   booktitle = {Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems},
   address = {San Jose, CA},
   year = {2004},
   month = {July},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/learncoal.pdf} 
   }
   




4. John Anderson, Brian Tanner, and Jacky Baltes. Reinforcement Learning from Teammates of Varying Skill in Robotic Soccer. In Proceedings of the 2004 FIRA Robot World Congress, Busan, Korea, October 2004. FIRA.
   

   @inproceedings{anderson04:_reinf_learn_teamm_varyin_skill_robot_soccer,
   author = {John Anderson and Brian Tanner and Jacky Baltes},
   title = {Reinforcement Learning from Teammates of Varying Skill in Robotic Soccer},
   booktitle = {Proceedings of the 2004 FIRA Robot World Congress},
   year = 2004,
   address = {Busan, Korea},
   month = {October},
   organization = {FIRA} 
   }
   




5. Jacky Baltes and John Anderson. Interpolation Methods for Global Vision Systems. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, The Eighth RoboCup Competitions and Conferences, Lisbon, 2004. [Poster] Abstract:

   In 2004, the playing field size of the small sized league was significantly increased, which poses new challenges for all teams. This paper describes extensions to our current video server software Doraemon to deal with these new challenges. It shows that a camera with a side view is a workable alternative to the more expensive approach of using multiple cameras. To illustrate this point, the paper discusses the camera calibration method used in Doraemon as well as an investigation into some common two dimensional interpolation methods (pulse, linear, and cubic B-spline) as well a novel average gradient method. It also proves that (ignoring occluded parts of the playing field) it is possible to construct a realistic top down view of the playing field with a camera that only has a side view of the field.

   
   

   @inproceedings{baltes04:_inter_method_global_vision_system,
   author = {Jacky Baltes and John Anderson},
   title = {Interpolation Methods for Global Vision Systems},
   booktitle = {The Eighth RoboCup Competitions and Conferences},
   year = 2004,
   editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
   address = {Lisbon},
   abstract = {In 2004, the playing field size of the small sized league was significantly increased, which poses new challenges for all teams. This paper describes extensions to our current video server software Doraemon to deal with these new challenges. It shows that a camera with a side view is a workable alternative to the more expensive approach of using multiple cameras. To illustrate this point, the paper discusses the camera calibration method used in Doraemon as well as an investigation into some common two dimensional interpolation methods (pulse, linear, and cubic B-spline) as well a novel average gradient method. It also proves that (ignoring occluded parts of the playing field) it is possible to construct a realistic top down view of the playing field with a camera that only has a side view of the field.},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_inter_method_global_vision_system.pdf},
   poster = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_inter_method_global_vision_system_poster.pdf} 
   }
   




6. Jacky Baltes and John Anderson. Introductory Programming Workshop for Children Using Robotics. In Proceedings of the 2nd International Symposium on Robotics Education, Daejon, Korea, November 2004. KAIST.
   

   @inproceedings{baltes04:_introd_progr_works_child_using_robot,
   author = {Jacky Baltes and John Anderson},
   title = {Introductory Programming Workshop for Children Using Robotics},
   booktitle = {Proceedings of the 2nd International Symposium on Robotics Education},
   year = 2004,
   address = {Daejon, Korea},
   month = {November},
   organization = {KAIST} 
   }
   




7. Jacky Baltes, John Anderson, Shawn Schaerer, and Ryan Wegner. Keystone Fire Brigade 2004. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, The Eighth RoboCup Competitions and Conferences, Lisbon, 2004.
   

   @inproceedings{baltes04:_keyst_fire_brigad,
   author = {Jacky Baltes and John Anderson and Shawn Schaerer and Ryan Wegner},
   title = {Keystone Fire Brigade 2004},
   booktitle = {The Eighth RoboCup Competitions and Conferences},
   year = 2004,
   editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
   address = {Lisbon} 
   }
   




8. Jacky Baltes, Sara McGrath, and John Anderson. Tao-Pie-Pie Humanoid Robot. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, The Eighth RoboCup Competitions and Conferences, Lisbon, 2004.
   

   @inproceedings{baltes05:_tao_pie_pie_human_robot2,
   author = {Jacky Baltes and Sara McGrath and John Anderson},
   title = {Tao-Pie-Pie Humanoid Robot},
   booktitle = {The Eighth RoboCup Competitions and Conferences},
   year = 2004,
   editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
   address = {Lisbon} 
   }
   




9. Jacky Baltes, Sara McGrath, and John Anderson. The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, The Eighth RoboCup Competitions and Conferences, Lisbon, 2004.
   

   @inproceedings{baltes05:_tao_pie_pie_human_robot,
   author = {Jacky Baltes and Sara McGrath and John Anderson},
   title = {The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot},
   booktitle = {The Eighth RoboCup Competitions and Conferences},
   year = 2004,
   editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
   address = {Lisbon},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_use_gyros_feedb_contr_walkin.pdf} 
   }
   




10. Jacky Baltes, Elizabeth Sklar, and John Anderson. Teaching with RoboCup. In Accessible Hands-on Artificial Intelligence and Robotics Education, number SS-04-01 of Spring Symposium, pages 146 - 152, February 2004. American Association for Artificial Intelligence, AAAI Press.
    

    @inproceedings{baltes04:_teach_roboc,
    author = {Jacky Baltes and Elizabeth Sklar and John Anderson},
    title = {Teaching with RoboCup},
    booktitle = {Accessible Hands-on Artificial Intelligence and Robotics Education},
    pages = {146 - 152},
    year = 2004,
    number = {SS-04-01},
    series = {Spring Symposium},
    month = {February},
    organization = {American Association for Artificial Intelligence},
    publisher = {AAAI Press},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_teach_roboc.pdf} 
    }
    




11. Xiao-Wen Terry Liu and Jacky Baltes. An Intuitive and Flexible Architecture for Intelligent Mobile Robots. In S. C. Mukhopadhyay and G. Sen Gupta, editors, Second International Conference on Autonomous Robots and Agents (ICARA), pages 52-57, December 2004. Massey University. Abstract:

    The goal of this research is to develop an intuitive, adaptive, and flexible architecture for intelligent mobile robots. We propose a hybrid architecture that uses behaviour trees and finite state machines. A task manager selects behaviours based on approximations of their applicability and the expected reward of a behaviour. One major feature of this architecture is that important information of the perception, reasoning, and execution parts of the system are made explicit. This information includes parameters (e.g., colour definitions), structural information (e.g., the behaviour tree), and the ability to represent prototypical scenarios.

    
    

    @inproceedings{liu04:_intuit_flexib_archit_intel_mobil_robot,
    author = {Xiao-Wen Terry Liu and Jacky Baltes},
    title = {An Intuitive and Flexible Architecture for Intelligent Mobile Robots},
    booktitle = {Second International Conference on Autonomous Robots and Agents (ICARA)},
    pages = {52-57},
    year = 2004,
    editor = {S. C. Mukhopadhyay and G. Sen Gupta},
    month = {December},
    organization = {Massey University},
    isbn = {0-476-00994-4},
    abstract = {The goal of this research is to develop an intuitive, adaptive, and flexible architecture for intelligent mobile robots. We propose a hybrid architecture that uses behaviour trees and finite state machines. A task manager selects behaviours based on approximations of their applicability and the expected reward of a behaviour. One major feature of this architecture is that important information of the perception, reasoning, and execution parts of the system are made explicit. This information includes parameters (e.g., colour definitions), structural information (e.g., the behaviour tree), and the ability to represent prototypical scenarios.},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/liu04:_intuit_flexib_archit_intel_mobil_robot.pdf} 
    }
    




12. Sara McGrath, Jacky Baltes, and John Anderson. Active Balancing Using Gyroscopes for a Small Humanoid Robot. In S. C. Mukhopadhyay and G. Sen Gupta, editors, Second International Conference on Autonomous Robots and Agents (ICARA), pages 470-475, December 2004. Massey University. [Slides] Abstract:

    This paper describes methods used in stabilizing the walking gait of Tao-Pie-Pie, a small humanoid robot given rate feedback from two RC gyroscopes. Tao-Pie-Pie is a fully autonomous small humanoid robot (30cm tall). Although Tao-Pie-Pie uses a minimal set of actuators and sensors, it has proven itself in international competitions, winning honors at the RoboCup and HuroSot competitions in 2002 and 2003. The feedback control law is based solely on the rate information from two RC gyroscopes. This alleviates drift problems introduced by integrating the RC gyroscope feedback in the more common position control approaches.

    
    

    @inproceedings{mcgrath04:_activ_balan_using_gyros_small_human_robot,
    author = {Sara McGrath and Jacky Baltes and John Anderson},
    title = {Active Balancing Using Gyroscopes for a Small Humanoid Robot},
    booktitle = {Second International Conference on Autonomous Robots and Agents (ICARA)},
    pages = {470-475},
    year = 2004,
    editor = {S. C. Mukhopadhyay and G. Sen Gupta},
    month = {December},
    organization = {Massey University},
    isbn = {0-476-00994-4},
    abstract = {This paper describes methods used in stabilizing the walking gait of Tao-Pie-Pie, a small humanoid robot given rate feedback from two RC gyroscopes. Tao-Pie-Pie is a fully autonomous small humanoid robot (30cm tall). Although Tao-Pie-Pie uses a minimal set of actuators and sensors, it has proven itself in international competitions, winning honors at the RoboCup and HuroSot competitions in 2002 and 2003. The feedback control law is based solely on the rate information from two RC gyroscopes. This alleviates drift problems introduced by integrating the RC gyroscope feedback in the more common position control approaches.},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mcgrath04:_activ_balan_using_gyros_small_human_robot.pdf},
    slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mcgrath04:_activ_balan_using_gyros_small_human_robot_slides.pdf} 
    }
    




13. Sara McGrath, Jacky Baltes, and John Anderson. Active Balancing in a Small Humanoid Robot. In Proceedings of the 2004 FIRA Robot World Congress, Busan, Korea, October 2004. FIRA.
    

    @inproceedings{mcgrath04:_activ_balan_small_human_robot,
    author = {Sara McGrath and Jacky Baltes and John Anderson},
    title = {Active Balancing in a Small Humanoid Robot},
    booktitle = {Proceedings of the 2004 FIRA Robot World Congress},
    year = 2004,
    address = {Busan, Korea},
    month = {October},
    organization = {FIRA} 
    }
    




14. Brian McKinnon and Jacky Baltes. Practical Region-Based Matching for Stereo Vision.. In Reinhard Klette and Jovisa D. Zunic, editors, IWCIA, volume 3322 of Lecture Notes in Computer Science, pages 726-738, 2004. Springer. Abstract:

    Using stereo vision in the field of mapping and localization is an intuitive idea, as demonstrated by the number of animals that have developed the ability. Though it seems logical to use vision, the problem is a very difficult one to solve. It requires the ability to identify objects in the field of view, and classify their relationship to the observer. A procedure for extracting and matching object data using a stereo vision system is introduced, and initial results are provided to demonstrate the potential of this system.

    
    

    @inproceedings{mckinnon04:_pract_region_based_match_stereo_vision,
    author = {Brian McKinnon and Jacky Baltes},
    title = {Practical Region-Based Matching for Stereo Vision.},
    booktitle = {IWCIA},
    pages = {726-738},
    year = 2004,
    editor = {Reinhard Klette and Jovisa D. Zunic},
    volume = 3322,
    series = {Lecture Notes in Computer Science},
    publisher = {Springer},
    isbn = {3-540-23942-1},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mckinnon04:_pract_region_based_match_stereo_vision.pdf},
    abstract = {Using stereo vision in the field of mapping and localization is an intuitive idea, as demonstrated by the number of animals that have developed the ability. Though it seems logical to use vision, the problem is a very difficult one to solve. It requires the ability to identify objects in the field of view, and classify their relationship to the observer. A procedure for extracting and matching object data using a stereo vision system is introduced, and initial results are provided to demonstrate the potential of this system.} 
    }
    




15. Shawn Schärer, Jacky Baltes, and John Anderson. Practical Ego-Motion Estimation for Mobile Robots. In Proceedings of the 2004 IEEE Conference on Robotics, Automation, and Mechatronics, Singapore, pages 921-926, December 2004.
    

    @inproceedings{ScharerRAM04,
    author = {Shawn Sch\&\#228;rer and Jacky Baltes and John Anderson},
    title = {Practical Ego-Motion Estimation for Mobile Robots},
    booktitle = {Proceedings of the 2004 IEEE Conference on Robotics, Automation, and Mechatronics},
    year = {2004},
    address = {Singapore},
    month = {December},
    pages = {921--926},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ScharerRAM04.pdf} 
    }
    




16. Ryan Wegner and John Anderson. An Agent-Based Approach to Balancing Teleoperation and Autonomy for Robotic Search and Rescue. In Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04), London, ON, pages 1-15, May 2004.
    

    @inproceedings{teleworkshop,
    author = {Ryan Wegner and John Anderson},
    title = {An Agent-Based Approach to Balancing Teleoperation and Autonomy for Robotic Search and Rescue},
    booktitle = {Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
    address = {London, ON},
    year = {2004},
    pages = {1--15},
    month = {May},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/WegnerAnderson.pdf} 
    }
    




17. Alfred Wurr and John Anderson. Multi-Agent Trail Making for Stigmergic Navigation. In Proceedings of the 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04), London, ON, pages 422-428, May 2004.
    

    @inproceedings{stigtrail,
    author = {Alfred Wurr and John Anderson},
    title = {Multi-Agent Trail Making for Stigmergic Navigation},
    booktitle = {Proceedings of the 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
    address = {London, ON},
    year = {2004},
    pages = {422--428},
    month = {May},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/stigtrailmaking.pdf} 
    }
    




18. Michael van de Vijsel and John Anderson. Coalition Formation in Multi-Agent Systems under Real-World Conditions. In Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems, San Jose, CA, July 2004.
    

    @inproceedings{mikecoal,
    author = {Michael van de Vijsel and John Anderson},
    title = {Coalition Formation in Multi-Agent Systems under Real-World Conditions},
    booktitle = {Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems},
    address = {San Jose, CA},
    year = {2004},
    month = {July},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/mikecoalworkshop.pdf} 
    }
    

1. Jacky Baltes and Thomas Bräunl. HuroSot Laws of the Game. University of Manitoba, Winnipeg, Canada, May 2004. Note: Http://www.fira.net/hurosot.
   

   @manual{baltes04:_huros_laws_game,
   title = {HuroSot Laws of the Game},
   author = {Jacky Baltes and Thomas Br\"aunl},
   organization = {University of Manitoba},
   address = {Winnipeg, Canada},
   month = {May},
   year = 2004,
   note = {http://www.fira.net/hurosot} 
   }
   

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