CAMBADA Soccer Team: from Robot Architecture to Multiagent Coordination

Robotic soccer is nowadays a popular research domain in the area of multi-robot systems. RoboCup is an international joint project to promote research in artificial intelligence, robotics and related fields. RoboCup chose soccer as the main problem aiming at innovations to be applied for socially relevant problems. It includes several competition leagues, each one with a specific emphasis, some only at software level, others at both hardware and software, with single or multiple agents, cooperative and competitive. In the context of RoboCup, the Middle Size League (MSL) is one of the most challenging. In this league, each team is composed of up to 5 robots with a maximum size of 50cm× 50cm, 80cm height and a maximumweight of 40Kg, playing in a field of 18m× 12m. The rules of the game are similar to the official FIFA rules, with minor changes required to adapt them for the playing robots CAMBADA, Cooperative Autonomous Mobile roBots with Advanced Distributed Architecture, is the MSL Soccer team from the University of Aveiro. The project started in 2003, coordinated by the Transverse Activity on Intelligent Robotics group of the Institute of Electronic and Telematic Engineering of Aveiro (IEETA). This project involves people working on several areas for building the mechanical structure of the robot, its hardware architecture and controllers (Almeida et al., 2002; Azevedo et al., 2007) and the software development in areas such as image analysis and processing (Caleiro et al., 2007; Cunha et al., 2007; Martins et al., 2008; Neves et al., 2007; 2008), sensor and information fusion (Silva et al., 2008; 2009), reasoning and control (Lau et al., 2008), cooperative sensing approach based on a Real-Time Database (Almeida et al., 2004), communications among robots (Santos et al., 2009; 2007) and the development of an efficient basestation. The main contribution of this chapter is to present the new advances in the areas described above involving the development of an MSL team of soccer robots, taking the example of the CAMBADA team that won the RoboCup 2008 and attained the third place in the last edition of the MSL tournament at RoboCup 2009. CAMBADA also won the last three editions

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