Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team

Authors:
Nuno Lau;Luís Seabra Lopes;Nelson Filipe;Gustavo Corrente
Affiliations:
Transverse Activity on Intelligent Robotics, IEETA, Universidade de Aveiro, Aveiro, Portugal 3810-193;Transverse Activity on Intelligent Robotics, IEETA, Universidade de Aveiro, Aveiro, Portugal 3810-193;Transverse Activity on Intelligent Robotics, IEETA, Universidade de Aveiro, Aveiro, Portugal 3810-193;Transverse Activity on Intelligent Robotics, IEETA, Universidade de Aveiro, Aveiro, Portugal 3810-193
Venue:
EPIA '09 Proceedings of the 14th Portuguese Conference on Artificial Intelligence: Progress in Artificial Intelligence
Year:
2009

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Abstract

This paper presents the team coordination methodologies of CAMBADA, a robotic soccer team designed to participate in the RoboCup middle-size league (MSL). The coordination model extends and adapts previous work in the Soccer Simulation League to the MSL environment. The approach is based on flexible positionings and priority-based dynamic role/positioning assignment. In addition, coordinated procedures for passing and setplays have been implemented. With the described design, CAMBADA reached the 1st place in the RoboCup'2008 world championship, becoming the first Portuguese real robot team to win in RoboCup. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed.