Computer graphics: principles and practice (2nd ed.)
Computer graphics: principles and practice (2nd ed.)
Machine vision
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Fast Parametric Transitions for Smooth Quadrupedal Motion
RoboCup 2001: Robot Soccer World Cup V
CM-Pack'01: Fast Legged Robot Walking, Robust Localization, and Team Behaviors
RoboCup 2001: Robot Soccer World Cup V
A Modular Hierarchical Behavior-Based Architecture
RoboCup 2001: Robot Soccer World Cup V
Frequency space representation and transitions of quadruped robot gaits
ACSC '04 Proceedings of the 27th Australasian conference on Computer science - Volume 26
High-Level Behavior Programming
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 3
CooperativeWorld Modeling in Dynamic Multi-Robot Environments
Fundamenta Informaticae - New Frontiers in Scientific Discovery - Commemorating the Life and Work of Zdzislaw Pawlak
Sensor Modeling Using Visual Object Relation in Multi Robot Object Tracking
RoboCup 2006: Robot Soccer World Cup X
Cooperative Object Localization Using Line-Based Percept Communication
RoboCup 2007: Robot Soccer World Cup XI
Skill acquisition and use for a dynamically-balancing soccer robot
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Monitoring teams by overhearing: a multi-agent plan-recognition approach
Journal of Artificial Intelligence Research
CooperativeWorld Modeling in Dynamic Multi-Robot Environments
Fundamenta Informaticae - New Frontiers in Scientific Discovery - Commemorating the Life and Work of Zdzislaw Pawlak
Multi-observation sensor resetting localization with ambiguous landmarks
Autonomous Robots
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This paper describes a completely implemented, fully autonomous software system for soccer playing quadruped ro\-bots. 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 Robo\-Cup 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.