Cerberus ’ 08 Standard Platform League Team Qualification Document

“Cerberus” team made its debut in the 4-Legged league in RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of Boğaziçi University (BU), Istanbul, Turkey and Technical University Sofia, Plovdiv branch (TUSP), Plovdiv, Bulgaria [1]. The team competed in Robocup since then, except Robocup 2004. Since 2004, Boğaziçi University is maintaining the team. In 2005, despite the fact that it was the only team competing with ERS-210s (not ERS210As), Cerberus won the first place in the technical challenges. In 2006, we have carried out our success with old ERS-210s to the more powerful ERS-7s by reaching the quarter finals. We lost only three games to the eventual first, third, and fourth place teams. Boğaziçi University has a strong research group in AI. The introduction of Robocup as a unifying theme for different areas of study in autonomous robots has attracted many talented students and accelerated research efforts with more than 30 journal and conference papers. Currently, the department has teams both in Robocup four legged and rescue simulation leagues. Together with the introduction of the new humanoid robot Nao [2] as the new standard platform as a replacement for Aibo, the team now has a new challenge to make the robots play soccer in a more “humanlike” manner and the opportunity to test the methods developed for bipedal walking and control against other teams. We will be collaborating with Işık University. The variety of robotic platforms that the team has worked on so far also brought the necessity to develop a platformindependent robotics library [3], details of which will be provided in this document. The rest of the document provides information about research done by our team in various fields of AI and robotics which we intend to apply to the new platform for playing soccer such as, vision, localization, locomotion, and planning and coordination/cooperation.

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