An Architecture for a National RoboCup Team

Abstract

Abstract. This paper describes the architecture used by the GermanTeam 2002 in the Sony Legged Robot League. It focuses on the special needs of a national team, i.e. a "team of teams" from different universities in one country that compete against each other in national contests, but that will jointly line up at the international RoboCup championship. In addition, the tools developed by the GermanTeam will be presented, e.g. the first 3-D simulation used in the Sony Legged Robot League.

Versatile, High-Quality Motions and Behavior Control of a Humanoid Soccer Robot

“…The behavior used the communicated information of the teammate to decide the dynamic role during game. Similar methods have been applied by the German Team in the four-legged league [19]. In Figure 10 both robots approached the ball.…”

Multi-robot coordination using Setplays in the middle-size and simulation leagues

“…The Extensible Agent Behaviour Specification Language (XABSL) is a language to describe behaviours for autonomous agents based on hierarchical finite state machines, and has been used by different teams in RoboCup, namely the German Team [21]. Recent developments [20] have allowed the use of the language to develop cooperative multi-agent behaviour, through synchronisation elements, that allow the specification of minimum or maximum number of robots is a given state.…”

Typological and Computational Investigations of Spatial Perspective

“…Based on software developed for robotic soccer [37], a real-time image processing system ( [21], see left column of figure 2), probabilistic modeling techniques for the maintenance of a persistent, analog, and egocentric model of the ball and the other robot (see middle column of figure 2), object tracking, locomotion, and obstacle avoidance were built into the robots.…”