RoboCup: The Robot World Cup Initiative
AGENTS '97 Proceedings of the first international conference on Autonomous agents
ATT-CMUnited-2000: Third Place Finisher in the RoboCup-2000 Simulator League
RoboCup 2000: Robot Soccer World Cup IV
Qualitative Velocity and Ball Interception
KI '02 Proceedings of the 25th Annual German Conference on AI: Advances in Artificial Intelligence
Making a Robot Learn to Play Soccer Using Reward and Punishment
KI '07 Proceedings of the 30th annual German conference on Advances in Artificial Intelligence
Obtaining the Inverse Distance Map from a Non-SVP Hyperbolic Catadioptric Robotic Vision System
RoboCup 2007: Robot Soccer World Cup XI
An omnidirectional vision system for soccer robots
EPIA'07 Proceedings of the aritficial intelligence 13th Portuguese conference on Progress in artificial intelligence
Modeling moving objects in a dynamically changing robot application
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
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In robotic soccer the ball is the most crucial factor of the game. It is therefore extremely important for a robot to retrieve it as soon as possible. Thus ball interception is a key behaviour in robotic soccer. However, currently most MSL teams move to the ball position without considering the ball velocity. This often results in inefficient paths described by the robot. This paper presents the CAMBADA solution for a ball interception behaviour based on a uniformly accelerated robot model, where not only the ball velocity is taken into account but also the robot current velocity as well as the robot acceleration, maximum velocity and sensor-action delays are considered. The described work was introduced in the Portuguese robotics open Robótica 2009 and RoboCup 2009 and improved the team performance contributing to the first and third places, respectively.