CMPack: a complete software system for autonomous legged soccer robots

This paper describes a completely implemented, fully autonomous software system for soccer playing quadruped robots. The system includes real-time color vision, probabilistic localization, quadruped locomotion/motion, and a hierarchical behavior system. Each component was based on well tested algorithms and approaches from other domains. Our design exposed strengths and weaknesses in each component, and led to improvements and extensions that made them more capable in general, as well as better suited for our testing domain. Integrating the components revealed design assumptions that were violated. We describe the problems that arose and how we addressed them. The integrated system was then used at the annual RoboCup robotic soccer competition where we placed third, losing only a single game. We reflect on how our system addressed its goals and what was learned through implementation and testing on real robots.

• Type: Conference
• Year: 2001
• Where: AGENTS
• Authors: Scott Lenser, James Bruce, Manuela M. Veloso
• Keywords: AGENTS 2001, Design Exposed Strengths, Hierarchical Behavior System, Quadruped, Security Privacy