The CMUnited-98 champion small-robot team

Robotic soccer presents a large spectrum of challenging research opportunities. In this article, we present the main research and technical contributions of our champion CMUnited-98 small robot team. The team is a multiagent robotic system with global perception, and distributed cognition and action. We describe the main features of the hardware design of the physical robots, including differential drive, robust mechanical structure, and a kicking device. We introduce our new robot motion algorithm which reactively generates motion control to account for the target point, the desired robot orientation, and obstacle avoidance. Our robots exhibit successful collision-free motion in the highly dynamic robotic soccer environment. At the strategic and decision-making level, we present the role-based behaviors of the CMUnited-98 robotic agents. Team collaboration is remarkably achieved through a new algorithm that allows for team agents to anticipate possible collaboration opportunities. Ro...

• Type: Journal
• Year: 1998
• Where: AR
• Authors: Manuela M. Veloso, Michael H. Bowling, Peter Stone
• Keywords: AR 1998, CMUnited-98 Small Robot, Robot, Small Robot Team