Building a Dedicated Robotic Soccer

Robotic Soccer involves multiple agents that need to collaborate in an adversarial environment to achieve speciic objectives. We have been building an architecture that addresses this integration of high-level and low-level reasoning as a combined system of mini-robots, a camera for perception, a centralized interface computer, and several client servers as the minds of the mini-robot players. In this paper we focus on the hardware design of our mini-robots. Our main purpose is to provide a detailed description of our design decisions so that others may learn from and replicate our eeorts. Communication between the interface computer and the mini-robots is achieved through coded infrared radiation. The mini-robots can turn on the spot and move forward and backward with variable speed. Our design also allows a well-balanced use of the on-board power and current supplies.