This paper describes the status of the ISocRob MSL roboticsoccer team as required by the RoboCup 2009 qualiﬁcation procedures. Since its previous participation in RoboCup, the ISocRob team has car-ried out signiﬁcant developments in various topics, the most relevantof which are presented here.  These include self-localization, 3D objecttracking and cooperative object localization, motion control and rela-tional behaviors.  A brief description of the hardware of the ISocRobrobots and of the software architecture adopted by the team is also in-cluded. 

Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems