Cooperative Soccer Play by Real Small-Size Robot

One of the typical cooperative actions is the pass play in RoboCup small-size league. This paper presents three technical key features to realize robust pass play between robots. The first one is the high resolution image processing to detect the positions and orientations of the robots. The second one is the control algorithm to move and adjust the robots for the pass play. The third one is the mechanism to catch the ball moving at high speed. This paper discusses these methods and shows the effectiveness of the methods by experimental results.