Developing soccer-playing robots based on the centralized approach
This paper presents the design procedure for soccer-playing robots based on the centralized approach. Using a fast Vision system, we obtain the configuration of each robot, then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of challenging problems such as coordination between robots, motion planning of robots, visual recognition of objects, and so on. To implement such functions, we think that the centralized approach may be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.
robot soccer mirosot contest multi-agent coorporation remote-brainless vision-based control centralized control architecture virtual target algorithm